rslidar雷达数据转velodyne数据功能包

# RS to Velodyne A ros tool for converting Robosense pointcloud to Velodyne pointcloud format, which can be directly used for downstream algorithm, such as LOAM, LEGO-LOAM, LIO-SAM, etc. ## Currently support: ### 1. [robosense XYZIRT] to [velodyne XYZIRT / XYZIR / XYZI]: (Recommended) RS-16, RS-32, RS-Ruby, RS-BP and RS-Helios LiDAR point cloud. ### 2. [robosense XYZI] to [velodyne XYZIR]: RS-16 and RS-Ruby LiDAR point cloud, More LiDAR model support is coming soon. ## Usage ### 1. XYZIRT input For **XYZIRT** format point clouds from `/rslidar_points` (Notice that, you need the latest [rslidar_sdk](https://github.com/RoboSense-LiDAR/rslidar_sdk) driver to get this type of point cloud): ``` rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZIRT # or rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZIR # or rosrun rs_to_velodyne rs_to_velodyne XYZIRT XYZI ``` The output point clouds are **XYZIRT** / **XYZIR** / **XYZI** point cloud `/velodyne_points` in Velodyne's format. ### 2. XYZI input For **XYZI** format point clouds from `/rslidar_points`: ``` rosrun rs_to_velodyne rs_to_velodyne XYZI XYZIR ``` The output point clouds are **XYZIR** point cloud `/velodyne_points` in Velodyne's format. ## Subscribes `/rslidar_points`: sensor_msgs.PointCloud2, from Robosense LiDAR. ## Publishes `/velodyne_points`: sensor_msgs.PointCloud2, the frame_id is `velodyne`.