npy_visualizer

Package that converts npy files into ROS pointclouds that can be used for processing and visualisation

Installation

1. Clone the repository in the src folder of your catkin_ws and run catkin_make
2. Source the workspace by running source devel/setup.bash in at the top of the workspace

Running

1. Edit the launch file to include the directory containing your npy file names and a txt file with the name of all the npy files
2. Run roslaunch npy_visualizer lidar_viz.launch or roslaunch src/npy_visualizer/launch/lidar_viz.launch

Note: The pointclouds are published with the frame id lidar_link which can be changed in the npy_visualize.py script