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jedeschaud / ct_icp

CT-ICP: Continuous-Time LiDAR Odometry

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How to save the poincloud map

ajxdhe opened this issue · comments

commented

I start the ct_icp by using roslaunch ct_icp_odometry ct_icp_slam.launch and rosbag play semantickitti_sequence07.bag and now I want to save the pointcloud map my rostopic list is
SUMMARY

Published topics:

  • /move_base_simple/goal [geometry_msgs/PoseStamped] 1 publisher
  • /vehicle [geometry_msgs/PoseStamped] 1 publisher
  • /rosout [rosgraph_msgs/Log] 2 publishers
  • /velodyne_points [sensor_msgs/PointCloud2] 1 publisher
  • /rosout_agg [rosgraph_msgs/Log] 1 publisher
  • /clicked_point [geometry_msgs/PointStamped] 1 publisher
  • /tf_static [tf2_msgs/TFMessage] 1 publisher
  • /clock [rosgraph_msgs/Clock] 1 publisher
  • /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
  • /tf [tf2_msgs/TFMessage] 1 publisher
  • /odom_pose [nav_msgs/Odometry] 1 publisher

Subscribed topics:

  • /ct_icp/gt_pose/odom [nav_msgs/Odometry] 1 subscriber
  • /ct_icp/pose/odom [nav_msgs/Odometry] 1 subscriber
  • /rosout [rosgraph_msgs/Log] 2 subscribers
  • Published topics:
  • /move_base_simple/goal [geometry_msgs/PoseStamped] 1 publisher
  • /vehicle [geometry_msgs/PoseStamped] 1 publisher
  • /rosout [rosgraph_msgs/Log] 2 publishers
  • /velodyne_points [sensor_msgs/PointCloud2] 1 publisher
  • /rosout_agg [rosgraph_msgs/Log] 1 publisher
  • /clicked_point [geometry_msgs/PointStamped] 1 publisher
  • /tf_static [tf2_msgs/TFMessage] 1 publisher
  • /clock [rosgraph_msgs/Clock] 1 publisher
  • /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
  • /tf [tf2_msgs/TFMessage] 1 publisher
  • /odom_pose [nav_msgs/Odometry] 1 publisher

Subscribed topics:

  • /ct_icp/gt_pose/odom [nav_msgs/Odometry] 1 subscriber
  • /ct_icp/pose/odom [nav_msgs/Odometry] 1 subscriber
  • /rosout [rosgraph_msgs/Log] 2 subscribers
  • /velodyne_points [sensor_msgs/PointCloud2] 1 subscriber
  • /tf [tf2_msgs/TFMessage] 1 subscriber
  • /tf_static [tf2_msgs/TFMessage] 1 subscriber
  • /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
  • /ct_icp/key_points [sensor_msgs/PointCloud2] 1 subscriber
    [sensor_msgs/PointCloud2] 1 subscriber
  • /tf [tf2_msgs/TFMessage] 1 subscriber
  • /tf_static [tf2_msgs/TFMessage] 1 subscriber
  • /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
  • /ct_icp/key_points [sensor_msgs/PointCloud2] 1 subscriber

if I use rosrun pcl_ros pointcloud_to_pcd input:=/velodyne

I can only save the map in one frame,but I want to save the whole pointcloud map

commented

I also want to save the map. Do you know how to get it?

commented

me too