This repo is for converting ros2bag(.db3) Lidar data to .bin and .pcd data with UTC timestamps!

• ROS2
• matplotlib
• numpy
• open3d

1. Clone the repo

   git clone https://github.com/ZiyeQin/ros2ToBinPcd.git

2. Convert the ros2bag to .bin

   python3 rosbag2bin.py

You can find the .csv file in the folder with UTC timestamp for each .bin file.

3. .bin visualization (optional)

   python3 binVisualization.py

4. Convert the .bin to .pcd

   python3 bin2pcd.py

5. .pcd visualization (optional)

   python3 pcdVisualization.py