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Original question:

Linux/IWR1642: How do I extract the coordinates to the point cloud through rviz？

Linux/IWR1642: The timestamp I used to generate the PCD file with the command“pointcloud_to_pcd” is always zero.

XiaoRui Lin
Prodigy 110 points
Part Number: IWR1642

Tool/software: Linux

After I get the point cloud like this,

I want to save the point cloud information in PCD format ，and I used the command “rosrun pcl_ros pointcloud_to_pcd input:=/mmWaveDataHdl/RScan” to generate the PCD file with the name of zero all the time, instead of the file named with the real timestamp, which caused the newly generated file to overwrite the previous PCD file, may I ask how to solve this problem？

  • 0
    TI__Mastermind 30405 points
    Hi XiaoRui,

    Timestamp functionality is not implemented in the ROS point cloud message so it it not possible to record the point cloud data in PCD format as you noticed. We don't have plans to update the lab to implement this function so you'll need to modify the mmWave ROS driver source code yourself to add this functionality.

    Regards
    -Nitin
  • 0 in reply to Nitin Sakhuja
    Prodigy 110 points

    I can generate a PCD file, but its name is always zero, can you tell me which source file I want to add a timestamp function to?

  • 0 in reply to XiaoRui Lin
    TI__Mastermind 30405 points

    Hello,

    You can find this code in ~/catkin_ws/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp as shown below. As you can see, the line where the timestamp is added is commented out as it seemed to break the ROS driver operation so you will need to troubleshoot it yourself if you need this functionality for your application.

    Thanks

    -Nitin