Conversion code so Data A&A can work on LiDAR data visualization without needing ROS. We're going to write realtime ROS code that sends this data to their HTTP endpoints at some point, but this is a workaround until both of us have our respective ends set up for that.
This conversion relies on rosbag recordings of experiments where LiDAR data was collected. Since rosbag behavior is different across ROS1 and ROS2, there are different convert.py scripts in ros1/ and ros2/.
Copy bagfile into ros1/scan.bag. It must have that name. Then cd ros1 and run convert.py.
Bagfiles in ROS 2 are actually directories. Copy the .db3 file and metadata.yaml file into ros2/scan/. Then cd ros2 and run convert.py.