相机biaoding

需要先安装linux客户端（海康机器人官网），sudo dpkg -i MVS-2.1.2_x86_64_20221208.deb cd /opt/MVS/bin/ 再./MVS.sh运行,客户端启动。

打开海康相机客户端

cd /opt/MVS/bin
export LD_LIBRARY_PATH=/opt/MVS/bin/:$LD_LIBRARY_PATH
./MVS

打开相机

roslaunch mvs_ros_driver mvs_camera_trigger.launch

打开雷达

roslaunch livox_ros_driver2 msg_MID360.launch

(1)roscore

(2)roslaunch livox_repub livox_repub_online.launch 转为pointcloud2

(3)rosbag record /left_camera/image /livox/lidar -o 包名

(4) rosrun pcl_ros bag_to_pcd 2.bag /livox/points ./pointcloud2

`\`rosbag play your_raw_bag.bag   //播放CustomMsg格式的bag

(4)rosbag record -a     //录制重新发布的lidartopic（record -a是省事，按需要选择要录制的topic）

 rosrun pcl_ros bag_to_pcd 2.bag /livox/points ./pointcloud2

 rosrun image_view extract_images _sec_per_frame:=0.01 image:=/left_camera/image/

相片转成jpg

rostopic echo /livox/points | grep frame_id