I have .pcap file collected from VLP16 and I first run
roslaunch velodyne_pointcloud VLP16_points.launch pcap:=/home/soowon/Documents/111.pcap
I can now see in RVIZ in fixed frame of [velodyne]
Then I use
rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/velodyne_points
to convert to 2d laser scan.
and then record it as rosbag file.
But when I want to combine it with laser_scan_matcher and gmapping, the frame is always not correct.
I searched online and it seems that I should reset frame_id when doing the first step. But I don't know what to do in detail.
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