Evan Flynn

hey @at-wat, running into the same question over here. how can we put multiple lidars into the same topic as you suggest? is it only a launch file change?

for example the full name is `camera_node` but it prints out `camera_nod`: ``` 1624467139.274792 [0] camera_nod: using network interface wifi_interface (udp/) selected arbitrarily from: wifi_interface, docker0 ```

assuming you have a fused XYZRGB pointcloud as an input, to do it "quickly" you'd have to replace all the `PointXYZI`'s with `PointXYZRGB` in the source code. to do this...

@RalphCodesTheInternet sure, just give me a few days to find some time

@Mikor-mkr you can "paint" lidar points using a reference camera by using a combination of packages from ROS's [`image_pipeline`.](https://github.com/ros-perception/image_pipeline). you can use a combination of [depth_image_proc](http://wiki.ros.org/depth_image_proc) and [image_proc](http://wiki.ros.org/image_proc) nodes in...

@Mikor-mkr i manually adjust the extrinsics via ros params for my camera and depth image nodes. Obviously not ideal for production setups but I'm sure some sort of automation could...

As a side note....I'm in the middle of trying to re-write this package to make it a bit more flexible. https://github.com/flynneva/floam Still have a long ways to go until it's...

I **think** I just pushed a fix for this on my fork for this package if you want to try it out? if you have a rosbag of your data...

@JangChangWon check out [this thread](https://github.com/wh200720041/floam/issues/13#issuecomment-868515135) on another issue where I try and give some tips.

id recommend checking out [rtklib](https://github.com/rtklibexplorer/RTKLIB.git)...seems to be the best free option out there