Velodyne data to pcd2 conversion

[divyabhanukadaru]

Hello everyone,

Can we convert Ford LiDAR data which is available in velodyne format to pcd2 format?
If yes, how can we convert that?

Thanks in advance

[ankitvora7]

Hi @divyabhanukadaru you can install the velodyne package and then use the following command to convert the velodyne data to PCD2 format
roslaunch ford_demo multi_lidar_convert.launch
Once you see the PCD2 in rviz, you can then use the pcl_ros library to convert from pcd2 to .pcd files if you need. Try it and let me know if you have any issues

[JackRen88]

hello , @ankitvora7
I try to run this roslaunch`` ford_demo multi_lidar_convert.launch for viewing the live lidar pointcloud,but It does not appear in rviz，there is a warnning that [ WARN] [1628749506.660728638]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.velodyne_pointcloud.message_filter] rosconsole logger to DEBUG for more information.
rostopic echo /lidar_red_pointcloud , there is alse no pointcloud data.
How should I solved it?

[ArghyaChatterjee]

I am also having the same issue as @JackRen88 . @JackRen88 or @ankitvora7 do you have any idea why this is hapenning and how to solve this ?