How to build with catkin:

$ cd ~/catkin_ws/src/
$ git clone  git@github.com:AbnerCSZ/lidar2rosbag_KITTI.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release 
$ source ~/catkin_ws/devel/setup.bash

Running:

rosrun lidar2rosbag lidar2rosbag KITTI_input_dir output_name

Please confirm that the input path contains the file times.txt and the folder velodyne.

└── dataset
    └── sequences
        └── 04
            ├── calib.txt
            ├── image_0 [271 entries exceeds filelimit, not opening dir]
            ├── image_1 [271 entries exceeds filelimit, not opening dir]
            ├── times.txt
            └── velodyne [271 entries exceeds filelimit, not opening dir]

For example:

rosrun lidar2rosbag lidar2rosbag /data/KITTI/dataset/sequences/04/ 04

or

rosrun lidar2rosbag lidar2rosbag /data/KITTI/dataset/sequences/01/ bag01

and so on...

如果遇到LZ4_stream_t, LZ4_streamDecode_t build error错误 可以通过下面链接中的方法解决 ethz-asl/lidar_align#16 (comment)