Heethesh Vhavle

Aren't the [angle conversions in transforms.py](https://github.com/carla-simulator/ros-bridge/blob/master/carla_common/src/carla_common/transforms.py#L109) also incorrect then? Pitch and yaw angles are negated, shouldn't the negation be for roll and yaw instead? Also see [this conversion here](https://github.com/code-iai/ROSIntegration/blob/master/Source/ROSIntegration/Private/TFBroadcastComponent.cpp#L144). @fpasch...

same issue here

@XGodina seems like `-opengl` is no longer available on 0.9.12 right? I actually tried running the same exact build (with Vulkan) on another system with the more recent Nvidia driver...

did you'll try upgrading your nvidia driver versions? or a source build?

Any updates on this?

@ssheorey yes I have some sample data sequences and examples. Sure I'll prioritize this PR again and address all the comments by end of next week.

I've made some progress addressing @reyanshsolis comments, will finish the rest and update the PR over the weekend.

@yxlao @ssheorey https://drive.google.com/file/d/1kwYA0WnX3cT_UEb9eknCbGn10Pmo0jhy/view?usp=share_link here's a 10s sequence with 100 XYZD files. Please let me know how to integrate this dataset with the tests, benchmarks, and examples.

@reyanshsolis I've addressed your comments regarding the refactor and IO format for XYZD, please take a look when you can, thanks!

@ssheorey sure, I got the dataset integrated. Will quickly finish the benchmarks, examples, and a simple test.