Steps and code to convert ros bag to .bin format (available for personal testing)

Operation rendering:

step:

First, we need to install the ROS (Robot Operating System) and PCL (Point Cloud Library) libraries. Next, we will create a ROS node, subscribe to the lidar point cloud data, and then convert the data to .bin format.

1. Install ROS and PCL libraries:

Please follow the ROS official documentation to install ROS: ROS/Installation - ROS Wiki

Install the PCL library:

sudo apt-get install ros-<your_ros_version>-pcl-conversions

2. Create a ROS package:

lidar_to_binCreate a ROS package called in your workspace , with dependencies roscpp，sensor_msgsand pcl_conversions:

cd ~/catkin_ws/src

catkin_create_pkg lidar_to_bin roscpp sensor_msgs pcl_conversions

3. Write code