Missing Attributes in PCD file generated from bag to pcd

[Dinatorehanova]

Hi, I am using pcl_ros library's bag to pcd command to convert my pointcloud2 topic into pcd file.

The PCD files should have the values for (range, reflectivity, timestamp, noise, x,y,z and itensity). However, when I am opening the PCD file in the cloudcompare I am getting a constant value of 0 for my range, reflectivity, noise, ring, and timestamp. And also many of my point's x,y,z are coming up with same value (0,0,0)

This is our bag file https://drive.google.com/file/d/1a07ZoVyITabAu39hr9EVeHMpWqmCRVSd/view?usp=sharing

Here is a sample of pcd file generated from the "rosrun pcl_ros bag_to_pcd <input_file.bag> <output_directory>" https://drive.google.com/file/d/1ZI9hUIjoYdnPh_crXvKg-fJcRqrTSzXJ/view?usp=sharing

Here is the head of my pcd file

Any help will be very great. We have been trying to resolve this issue for a long time.We are collecting data using an ouster LiDAR in ros bag.

Thanks

[SteveMacenski]

PRs welcome, my guess is the script doesn't support the full gambit of pointcloud template options but it shouldn't be too hard to add them

[mvieth]

@Dinatorehanova The google drive links don't work anymore, would you provide new ones? The issue is likely in pcl_conversions.h, maybe the field descriptions are not copied correctly, but that is difficult to say without the files.