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GitHub - EpsAvlc/rslidar_to_velodyne: convert rslidar point_cloud into velodyne...
source link: https://github.com/EpsAvlc/rslidar_to_velodyne
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rslidar to velodyne
convert rslidar point_cloud into velodyne point_cloud(with rings).
Brief
rslidar's pointcloud don't have property called ring (which ranges from 0 to 16, if a VLP-16 used).So many algorithm depends on it may suffer conflicts using rslidar.
Here I manually convert rslidar point_cloud into velodyne point_cloud.
Usage
roslaunch rslidar_to_velodyne rslidar_to_velodyne.launch
you can change the subscribe topic name and publish topic name in launch file.
For Chinese explanation you can refer: 速腾激光雷达与velodyne激光雷达的数据转换
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