Launch using with Rosbag

[shpark98]

Since I can't always go outdoors, I plan to save LiDAR data as a ROS bag for use.

The purpose is to receive real-time LiDAR data and obtain the kinetic_status for localization on the PCD map.

I am using a Hesai LiDAR and the Nebula tool.

What topic should I use to send LiDAR data to Autoware via a ROS bag?

[SakodaShintaro]

This page might help you.

https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/

Basically, it is a good idea to save lidar packets.

For example, if you look at sample-rosbag, you will find the following topics

$ ros2 bag info ~/autoware_map/sample-rosbag

Files:             sample.db3
Bag size:          262.7 MiB
Storage id:        sqlite3
Duration:          29.874325231s
Start:             Feb 26 2021 14:02:26.338218272 (1614315746.338218272)
End:               Feb 26 2021 14:02:56.212543503 (1614315776.212543503)
Messages:          8262
Topic information: Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 2941 | Serialization Format: cdr
                   Topic: /sensing/gnss/ublox/fix_velocity | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 30 | Serialization Format: cdr
                   Topic: /sensing/gnss/ublox/nav_sat_fix | Type: sensor_msgs/msg/NavSatFix | Count: 30 | Serialization Format: cdr
                   Topic: /sensing/gnss/ublox/navpvt | Type: ublox_msgs/msg/NavPVT | Count: 30 | Serialization Format: cdr
                   Topic: /sensing/imu/tamagawa/imu_raw | Type: sensor_msgs/msg/Imu | Count: 853 | Serialization Format: cdr
                   Topic: /sensing/lidar/left/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 299 | Serialization Format: cdr
                   Topic: /sensing/lidar/right/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 299 | Serialization Format: cdr
                   Topic: /sensing/lidar/top/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 288 | Serialization Format: cdr
                   Topic: /vehicle/status/control_mode | Type: autoware_vehicle_msgs/msg/ControlModeReport | Count: 873 | Serialization Format: cdr
                   Topic: /vehicle/status/gear_status | Type: autoware_vehicle_msgs/msg/GearReport | Count: 873 | Serialization Format: cdr
                   Topic: /vehicle/status/steering_status | Type: autoware_vehicle_msgs/SteeringReport | Count: 873 | Serialization Format: cdr
                   Topic: /vehicle/status/velocity_status | Type: autoware_vehicle_msgs/msg/VelocityReport | Count: 873 | Serialization Format: cdr

Here, it has velodyne_packets, but for Hesai Pandar, it would be pandar_packets, etc.

[shpark98]

Thanks for your reply!!