转换a-loam 算法 bag包为pcd格式 速腾三维激光雷达

1. 创建一个新的ROS包：在你的ROS工作空间（例如~/catkin_ws/src）中，使用catkin_create_pkg命令创建一个新的ROS包。例如，你可以创建一个名为pcd_saver的包，这个包依赖于roscpp和pcl_ros。命令如下：

   cd ~/catkin_ws/src
   catkin_create_pkg pcd_saver roscpp pcl_ros

2. 创建一个新的源文件：在你新创建的包的src目录中，创建一个新的C++源文件，例如pcd_saver_node.cpp。在这个文件中，写入以下代码：

   #include <ros/ros.h>
   #include <pcl/point_types.h>
   #include <pcl_ros/point_cloud.h>
   
   // Create a global point cloud to store all received point cloud data
   pcl::PointCloud<pcl::PointXYZI>::Ptr global_cloud(new pcl::PointCloud<pcl::PointXYZI>);
   
   void cloudCallback(const pcl::PointCloud<pcl::PointXYZI>::ConstPtr& cloud)
   {
       // Add the received point cloud to the global point cloud
       *global_cloud += *cloud;
   }
   
   void saveCloud()
   {
       // Save the global point cloud when the ROS node shuts down
       pcl::io::savePCDFileASCII("test_pcd.pcd", *global_cloud);
       ROS_INFO("Saved PCD file.");
   }
   
   int main(int argc, char** argv)
   {
       ros::init(argc, argv, "pcd_saver");
       ros::NodeHandle nh;
   
       ros::Subscriber sub = nh.subscribe<pcl::PointCloud<pcl::PointXYZI>>("/laser_cloud_map", 1, cloudCallback);
       
       ros::spin();
   
       // After ros::spin returns, check if the node is still running
       if (!ros::ok()) {
           saveCloud();
       }
   
       return 0;
   }

   程序会在ROS节点关闭时保存全局的点云，因此你需要在运行完你的bag文件后，手动关闭这个节点（例如通过Ctrl+C）来触发保存的操作。

   注意，这个程序将所有接收到的点云数据直接添加到全局的点云中，没有进行任何过滤或去重处理。如果你的bag文件包含大量的重复数据，生成的PCD文件可能会非常大。如果需要，你可以在cloudCallback函数中增加一些逻辑来过滤或处理数据。

3. 修改CMakeLists.txt：在你的包的根目录中，打开CMakeLists.txt文件，并找到add_executable和target_link_libraries的行。修改这两行，如下所示：

   add_executable(pcd_saver_node src/pcd_saver_node.cpp)
   target_link_libraries(pcd_saver_node ${catkin_LIBRARIES})

   完整代码

   cmake_minimum_required(VERSION 3.0.2)
   project(pcd_saver)
   
   ## Compile as C++11, supported in ROS Kinetic and newer
   # add_compile_options(-std=c++11)
   
   ## Find catkin macros and libraries
   ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
   ## is used, also find other catkin packages
   find_package(catkin REQUIRED COMPONENTS
     pcl_ros
     roscpp
   )
   
   ## System dependencies are found with CMake's conventions
   # find_package(Boost REQUIRED COMPONENTS system)
   
   
   ## Uncomment this if the package has a setup.py. This macro ensures
   ## modules and global scripts declared therein get installed
   ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
   # catkin_python_setup()
   
   ################################################
   ## Declare ROS messages, services and actions ##
   ################################################
   
   ## To declare and build messages, services or actions from within this
   ## package, follow these steps:
   ## * Let MSG_DEP_SET be the set of packages whose message types you use in
   ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
   ## * In the file package.xml:
   ##   * add a build_depend tag for "message_generation"
   ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
   ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
   ##     but can be declared for certainty nonetheless:
   ##     * add a exec_depend tag for "message_runtime"
   ## * In this file (CMakeLists.txt):
   ##   * add "message_generation" and every package in MSG_DEP_SET to
   ##     find_package(catkin REQUIRED COMPONENTS ...)
   ##   * add "message_runtime" and every package in MSG_DEP_SET to
   ##     catkin_package(CATKIN_DEPENDS ...)
   ##   * uncomment the add_*_files sections below as needed
   ##     and list every .msg/.srv/.action file to be processed
   ##   * uncomment the generate_messages entry below
   ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
   
   ## Generate messages in the 'msg' folder
   # add_message_files(
   #   FILES
   #   Message1.msg
   #   Message2.msg
   # )
   
   ## Generate services in the 'srv' folder
   # add_service_files(
   #   FILES
   #   Service1.srv
   #   Service2.srv
   # )
   
   ## Generate actions in the 'action' folder
   # add_action_files(
   #   FILES
   #   Action1.action
   #   Action2.action
   # )
   
   ## Generate added messages and services with any dependencies listed here
   # generate_messages(
   #   DEPENDENCIES
   #   std_msgs  # Or other packages containing msgs
   # )
   
   ################################################
   ## Declare ROS dynamic reconfigure parameters ##
   ################################################
   
   ## To declare and build dynamic reconfigure parameters within this
   ## package, follow these steps:
   ## * In the file package.xml:
   ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
   ## * In this file (CMakeLists.txt):
   ##   * add "dynamic_reconfigure" to
   ##     find_package(catkin REQUIRED COMPONENTS ...)
   ##   * uncomment the "generate_dynamic_reconfigure_options" section below
   ##     and list every .cfg file to be processed
   
   ## Generate dynamic reconfigure parameters in the 'cfg' folder
   # generate_dynamic_reconfigure_options(
   #   cfg/DynReconf1.cfg
   #   cfg/DynReconf2.cfg
   # )
   
   ###################################
   ## catkin specific configuration ##
   ###################################
   ## The catkin_package macro generates cmake config files for your package
   ## Declare things to be passed to dependent projects
   ## INCLUDE_DIRS: uncomment this if your package contains header files
   ## LIBRARIES: libraries you create in this project that dependent projects also need
   ## CATKIN_DEPENDS: catkin_packages dependent projects also need
   ## DEPENDS: system dependencies of this project that dependent projects also need
   catkin_package(
   #  INCLUDE_DIRS include
   #  LIBRARIES pcd_saver
   #  CATKIN_DEPENDS pcl_ros roscpp
   #  DEPENDS system_lib
   )
   
   ###########
   ## Build ##
   ###########
   
   ## Specify additional locations of header files
   ## Your package locations should be listed before other locations
   include_directories(
   # include
     ${catkin_INCLUDE_DIRS}
   )
   
   ## Declare a C++ library
   # add_library(${PROJECT_NAME}
   #   src/${PROJECT_NAME}/pcd_saver.cpp
   # )
   
   ## Add cmake target dependencies of the library
   ## as an example, code may need to be generated before libraries
   ## either from message generation or dynamic reconfigure
   # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
   
   ## Declare a C++ executable
   ## With catkin_make all packages are built within a single CMake context
   ## The recommended prefix ensures that target names across packages don't collide
   # add_executable(${PROJECT_NAME}_node src/pcd_saver_node.cpp)
   add_executable(pcd_saver_node src/pcd_saver_node.cpp)
   
   
   ## Rename C++ executable without prefix
   ## The above recommended prefix causes long target names, the following renames the
   ## target back to the shorter version for ease of user use
   ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
   # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
   
   ## Add cmake target dependencies of the executable
   ## same as for the library above
   # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
   
   ## Specify libraries to link a library or executable target against
   # target_link_libraries(${PROJECT_NAME}_node
   target_link_libraries(pcd_saver_node 
      ${catkin_LIBRARIES}
    )
   
   #############
   ## Install ##
   #############
   
   # all install targets should use catkin DESTINATION variables
   # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
   
   ## Mark executable scripts (Python etc.) for installation
   ## in contrast to setup.py, you can choose the destination
   # catkin_install_python(PROGRAMS
   #   scripts/my_python_script
   #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   # )
   
   ## Mark executables for installation
   ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
    install(TARGETS pcd_saver_node
      RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    )
   
   ## Mark libraries for installation
   ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
   # install(TARGETS ${PROJECT_NAME}
   #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
   # )
   
   ## Mark cpp header files for installation
   # install(DIRECTORY include/${PROJECT_NAME}/
   #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   #   FILES_MATCHING PATTERN "*.h"
   #   PATTERN ".svn" EXCLUDE
   # )
   
   ## Mark other files for installation (e.g. launch and bag files, etc.)
   # install(FILES
   #   # myfile1
   #   # myfile2
   #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   # )
   
   #############
   ## Testing ##
   #############
   
   ## Add gtest based cpp test target and link libraries
   # catkin_add_gtest(${PROJECT_NAME}-test test/test_pcd_saver.cpp)
   # if(TARGET ${PROJECT_NAME}-test)
   #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
   # endif()
   
   ## Add folders to be run by python nosetests
   # catkin_add_nosetests(test)

4. 编译你的ROS包：回到你的ROS工作空间的根目录，使用catkin_make命令编译你的工作空间。命令如下：
    

   cd ~/catkin_ws
   catkin_make

5. 运行你的节点：首先，使用source命令加载你新编译的包，然后使用rosrun命令运行你的节点。命令如下：

   source ~/catkin_ws/devel/setup.bash
   rosrun pcd_saver pcd_saver_node

   请注意，你需要在另一个终端窗口中运行你的SLAM算法并播放你的bag文件。

6. 我的运行过程

   roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
   rosrun pcd_saver pcd_saver_node
   rosbag play 2023-07-17-17-39-05.bag --clock
   

   pcd文件保存在工作空间根目录
   

   每次运行会覆盖之前的文件

7. 效果图