Display Offline Data - RoboSense RS-Ruby Lite User Manual

RS-Ruby Lite Users' Manual
Figure D - 1: Display point cloud Data in rviz.
D.5 Display offline data
For offline data packet (rosbag or pcap) in rslidar_sdk, there is completely instructions to guide
to read, parse and visualize point cloud.
1. Modify the parameters in "rslidar_sdk/config/config.yaml" file.(set msg_source to 3 for
message from pcap and fill pcap_directory to the directly path to pcap (e.g.
/home/robosense/80.pcap).
2. Open terminal, run the node:
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_sdk start.launch
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