Remap point topic for fusion purposes

[drofp]

Problem

Autoware's calibration tool expects the Lidar to publish to "/points_raw", but our current driver publishes to "/velodyne_point_cloud"

Solution

Remap "/velodyne_point_cloud" to "/points_raw" in the decoder launch file

Relevant issue in Autoware can be found here

[drofp]

@mitchellsayer is this a viable solution? or is "/velodyne_point_cloud" a topic that some other node subscribes to?

If it is not, we can write a node to simply copy the data to another topic.

[menson168]

@mitchellsayer is this a viable solution? or is "/velodyne_point_cloud" a topic that some other node subscribes to?

If it is not, we can write a node to simply copy the data to another topic.

http://wiki.ros.org/topic_tools/relay

@drofp
This tool can relay the message from one topic name to another that can be specified by you.

[drofp]

@menson168 is there a way to embed that in a launch file so I don't need to add an extra command step to the initialization process?

[drofp]

@menson168 have we found any way to automate this process? or else we may need an extra step upon startup.

otherwise, we'd probably need to modify @mitchellsayer's code

[drofp]

@Francisco-Ibarra07 might be easier just have a shell script as the official startup script to include the remapper and the startup launch file

[menson168]

Sorry, I completely forgot to investigate. I will take a look into the remapper tonight if it’s still needed. Thanks, Menson

…

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On Jan 2, 2019, at 5:24 PM, DRP ***@***.***> wrote: @Francisco-Ibarra07 might be easier just have a shell script as the official startup script to include the remapper and the startup launch file — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[drofp]

I think we're good for now! This is relatively low priority at the moment