Simple ROS2 node to extract sensor data. Tested in Humble.
- Extract Compressed Image : convert CompressedImage to .jpg and save by timestamp.
- Extrace Image : convert Image to .jpg and save by timestamp
- Extract PointCloud2 : convert PointCloud2 into .pcd file and save by timestamp.
See launch files for usage. E.g.
ros2 launch map4_extract_sensor_data extract_pointcloud2.launch.xml input_topic:=/lidar/front/points output_folder:=./pcd
ros2 launch map4_extract_sensor_data extract_image.launch.xml input_topic:=/camera/image_raw output_folder:=./raw
ros2 launch map4_extract_sensor_data extract_compress_image.launch.xml input_topic:=/camera/image_raw/compressed output_folder:=./compressed