Both lidar and realsense data can be simutenously captured and recored by calling one file
Installation Prerequesite: ROS2, ROS2 Wrapper for Intel® RealSense™ Devices Livox and Livox ROS2 Driver
- Follow the instructions outline in the ROS 2 Foxy installation
NB one could use the ROS2 installation instructions as guided in step 2 and 3 by realsesne for this step use foxy
2.Follow the instructions outlined in the ROS2 Wrapper for Intel® RealSense&trade
NB one could use the ROS2 installation instructions as guided in step 3 by livox for this step use dashing
- Follow the instructions outlined in the Livox ROS2 Driver installation
3.2. Refer to the Livox Avia User Manual on how to set the IP address of the computer.
- At this point you should be able to use the launch file in this folder to start recording the data fro the two sensors by calling
./simple.sh-
You should also set up where you would want to keep the recordings otherwise they would be kept whereever you call the launch file, to chage the locatio of the recording you can uncoment the line with the change of dir in the file simple.sh
-
To stop the recording, exit the terminal using
CTL-C -
The recorded data can be found where you set them to be or in the same folder as the simple.sh recordings directory named and ordered by date and time
-
To replay a bag one can use the following on the terminal
ros2 bag play <bag_file_name>db3the filename can include the path to the file if instructionis run in a different location of the bag file
- After having ros and all the required drivers installed, you could extract pcds, images, and other required data from the bag files
2.the topics that can be extracted for this project include but are not limited to the following.
-/camera/depth/color/points which is of pointcloud2 type message
-/livox/lidar which is of pointcloude2 type message
-/camera/color/image_raw which is of img type mesage