ros1 converter CustomMsg to PointCloud2

Hint

Please change branch to Bunker-DVI-Dataset-reg-1 for quick experiment.

Simlified instruction

Step 1 (prepare code)

mkdir -p ~/hdmapping-benchmark
cd ~/hdmapping-benchmark
git clone https://github.com/MapsHD/livox_bag_aggregate.git --recursive

Step 2 (build docker)

cd ~/hdmapping-benchmark/livox_bag_aggregate
docker build -t livox_bag_aggregate_noetic .

Step 3 (run docker)

cd ~/hdmapping-benchmark/livox_bag_aggregate
chmod +x livox_bag.sh 
./livox_bag.sh <input_bag> <output_folder>

Step 4 (expected outcome)

'reg-1.bag-pc.bag' file should appear in <output_folder>

Intended use

This tool converts Livox `/livox/lidar` (`livox_ros_driver/CustomMsg`) directly into
`/livox/pointcloud` (`sensor_msgs/PointCloud2`).

Dependencies

sudo apt update
sudo apt install -y docker.io
sudo usermod -aG docker $USER

Workspace

mkdir -p ~/hdmapping-benchmark
cd ~/hdmapping-benchmark
git clone https://github.com/MapsHD/livox_bag_aggregate.git --recursive

Docker build

cd ~/hdmapping-benchmark/livox_bag_aggregate
docker build -t livox_bag_aggregate_noetic .

Docker run

cd ~/hdmapping-benchmark/livox_bag_aggregate
chmod +x livox_bag.sh 
./livox_bag.sh <input_bag> <output_folder>