coordinationNotation not working correctly with multiScan

[reinbja]

If the coordinationNotation is set to 1 (polar data) no pointcloud will be visualized in rviz.

[rostest]

Thanks for your feedback. To visualize polar pointclouds in rviz, a transform to cartesian coordinates is required. The python script attached converts polar pointclouds (generated with coordinationNotation 1) to cartesian pointclouds, which can be visualized in rviz.

Example to convert polar pointclouds on topic "/cloud_polar_unstructured_fullframe" to cartesian pointclouds on topic "/cloud_polar_to_cartesian":

python3 polar_to_cartesian_pointcloud_ros1.py --polar_topic="/cloud_polar_unstructured_fullframe" --cartesian_topic="/cloud_polar_to_cartesian"

Using this script, rviz shows the converted polar pointcloud on topic "/cloud_polar_to_cartesian".

polar_to_cartesian_pointcloud_ros1.zip