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How to save the poincloud map #41

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ajxdhe opened this issue Aug 6, 2022 · 2 comments

ajxdhe commented Aug 6, 2022

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

str199044 commented Jul 8, 2023

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

yuxinpsu commented Sep 23, 2023

me too

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