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ROS2 specific libraries and utilities

cloudini_topic_converter

A simple node that subscribes to a compressed point_cloud_interfaces/msg/CompressedPointCloud2 and publishes a sensor_msgs/msg/PointCloud2.

It is MUCH more efficient than using the point_cloud_transport because the latter would:

  1. Receive a serialized DDS message.
  2. Convert that to CompressedPointCloud2.
  3. Do the actual decompression.
  4. Convert PointCloud2 to a serialized DDS message.

Instead, we work directly with raw serialized messages, bypassing the ROS type system, skipping steps 2 and 4 in the list above.

This means less latency and less CPU used to make unnecessary copies.

cloudini_rosbag_converter

A command line tool that, given a rosbag (limited to MCAP format), converts all sensor_msgs/msg/PointCloud2 topics into compressed point_cloud_interfaces/msg/CompressedPointCloud2 of vice-versa.

Encoding/decoding is faster than general-purpose compression algorithms and achieves a better compression ratio at 1mm resolution.

Interestingly, it can be compiled without ROS installed in your system!

Example usage: round trip compression / decompression;

# Use option -c for compression
cloudini_rosbag_converter -f original_rosbag.mcap -o compressed_rosbag.mcap -c

# Use option -d for decompression
cloudini_rosbag_converter -f compressed_rosbag.mcap -o restored_rosbag.mcap -d

Note that the "restored_rosbag.mcap" might be smaller than the original one, because the chunk-based ZSTD compression provided by MCAP is enabled.