Exporting map

[space03]

Hi.

I want to export the final map to pcd files. From issues, i found the following comment. https://github.com/laboshinl/loam_velodyne/issues/3#issuecomment-223254071

1st Terminal: roslaunch loam_velodyne loam_velodyne.launch 2nd Terminal: rosbag play ~/Downloads/MY_BAG_FILE_NAME.bag 3rd Terminal: rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered

but I'm in trouble. In 3rd terminal, exporting pcd file command is not working.

rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered [ INFO] [1553843254.665227026]: Publishing data on topic /cloud_pcd with frame_id /base_link. Segmentation fault (core dumped)

Please help me. Thank you.

[space03]

It is solved by rebooting the computer.

But i have other problems. I want to save the whole(full size) map. But " rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered" is saved only current window point cloud information. Maybe it is similar problem with https://github.com/laboshinl/loam_velodyne/issues/41#issuecomment-363551983. @StefanGlaser , @Shantnu12345 I dont have any idea of how to change original code of loam, laserMapping.cpp(~/catkin_ws/src/loam_velodyne/src/lib). And is it correct that exporting map to pcd command is " rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered"? please help me.

[mhaboali]

It is solved by rebooting the computer.

But i have other problems. I want to save the whole(full size) map. But " rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered" is saved only current window point cloud information. Maybe it is similar problem with #41 (comment). @StefanGlaser , @Shantnu12345 I dont have any idea of how to change original code of loam, laserMapping.cpp(~/catkin_ws/src/loam_velodyne/src/lib). And is it correct that exporting map to pcd command is " rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered"? please help me.

I have the same issue, it captures only the recent points in 0.pcd file