lidar-pcd-saver 0.1.0

A ROS2 tool to save PCD files from LiDAR subscriptions with configurable processing

This is displayed on your PyPI project page. Use Markdown for formatting. text# lidar-pcd-saver

A ROS2 tool to subscribe to a LiDAR PointCloud2 topic, process the data (with configurable downsampling and outlier removal), and save it as a PCD file.

Installation

1. Install ROS2 (e.g., Jazzy) from the official docs: https://docs.ros.org/en/jazzy/Installation.html. This provides rclpy and sensor_msgs.
2. Install the package: pip install lidar-pcd-saver textNote: Source your ROS2 setup before use: source /opt/ros/jazzy/setup.bash (adjust for your ROS2 distro).

Usage

Run as a CLI tool: Basic (defaults: voxel-size=0.05, k-neighbors=10, std-ratio=3.0, buffer-size=40, collect-time=5.0) lidar-pcd-saver --output /path/to/output.pcd With custom options lidar-pcd-saver --topic /your/lidar/topic --output /path/to/output.pcd --binary --voxel-size 0.1 --k-neighbors 20 --std-ratio 2.5 --buffer-size 60 --collect-time 10.0 textSee --help for all options.

Requirements

• Python 3.8+
• NumPy
• SciPy
• ROS2 (for rclpy and sensor_msgs)

License

MIT