- 运行loam
roslaunch lego_loam run.launch
- 播放数据包
rosbag play xxx.bag --clock
- 录制包
rosbag record -o out /laser_cloud_surround
- *.bag.active恢复
rosbag reindex xxx.bag.active
;rosbag fix xxx.bag.active result.bag
;
- 订阅某个话题并且输出pcd文件,然后可以用cc转换成txt或者其他格式
rosrun pcl_ros bag_to_pcd out.bag /topic name ./pcd
rosrun pcl_ros bag_to_pcd wulilou.bag /velodyne_points fileroad