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points-to-ros and points-from-ros are utilities for publishing and receiving PointCloud2 message on ROS.

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setup

To build them you need to set "snark_build_ros" to ON in snark cmake.

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Code Block
#ascii
cat cube.csv | points-to-ros --topic "/points1" --fields x,y,z,r,g,b,a --format 3d,3ub,ub --hang-on
#binary
cat cube.csv | csv-to-bin 3d,3ub,ub | points-to-ros --topic "/points1" --fields x,y,z,r,g,b,a --binary 3d,3ub,ub --hang-on

 

ros-bag-to-bin

this utility can directly cat binary data from a ros bag file

Code Block
languagebash
ros-bag-to-bin -h
ros-bag-to-bin [-h] [--timestamp] [--block] file topic size
e.g. 
ros-bag-to-bin "pointscloud.bag" "/velodyne_points" $(csv-size 4f) --timestamp --block | csv-from-bin t,ui,4f | head