Figure D-1 rviz displays RS-Helios point cloud data
D.5 View Offline Data
About how to parse data offline (rosbag or pcap), there is also a detailed introduction in the
documentation in the rslidar_sdk driver package. Here is just a brief introduction, taking pcap as
an example. You can use rslidar_sdk to parse the saved offline pcap file into point cloud data for
display.
1. Modify the parameters in rslidar_sdk/config/config.yaml
msg_source: modified to 3
pcap_directory: configure to the absolute path of the pcap file:
(e.g. /home/robosense/RSHelios.pcap)
2. Open the terminal and run the node program:
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_sdk start.launch
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