Point cloud export about livox_horizon_loam HOT 2 OPEN

I hope my solution is still soon enough for everyone who've been struggle with this issue.
Belows are what I did:

1. Use package_assembler to stack PointCloud2 messages into one from topic /velodyne_cloud_registered or /laser_cloud_surround (I recommend the first one) and publish the message to a topic.
2. Develop a subscriber to listen to the topic you published the message.
   The step 1 and 2 you can follow this guide.
3. Use package pointcloud_to_pcd to export the message from the topic you defined to .pcd file.
4. (Optional) In case your map is too large, you can turn on/off your subscriber to generate multiple pcd files. And use pcl_concatenate_points_pcd to concat those .pcd files.

Note: I just realized that you can just use pointcloud_to_pcd to convert messages from /velodyne_cloud_registered or /laser_cloud_surround to .pcd files and then use pcl_concatenate_points_pcd to concat all of them. I haven't tested this way yet but I guess I would work well.

from livox_horizon_loam.

you can subscribe the topic "/velodyne_cloud_registered" and register them together to generate a pointclod map

from livox_horizon_loam.