The ROS package, used to gather PCL point cloud topic and save to designated path. This package listen to topic when it started and terminates when user input CTRL-C. If the cloud data would surpass your memory capacity. Partition feature is ready for this. For more detail, please read in Usage section.
You can read help info by
rosrun gatherpclmsg gatherpclmsg -h
Allowed options:
-h [ --help ] print help message
-o [ --output ] arg explictly output file name
-b [ --binary ] arg (=1) write binary PCD
-p [ --prefix ] arg output prefix
-t [ --partition ] arg (=0) frame num of a partition ( 0 for no parititon)
--topic topic which would be subscribed
In generally, the minium format of the command line like this:
rosrun gatherpclmsg gatherpclmsg /velodyne_points
Listen to /velodyne_points and save to $PWD directory with the timestamp relative filename.
Advanced, you can use '-p' or '-o' to assign other folder to save. '-t' argument decide frame count interval to divide into seperate partition file. This would be processed in other thread, don't worry about blocking main thread.