Reading pointcloud data from a sensor_msgs/PointCloud2 message.

[konsgken]

Dear,

I was able to write in a mcap file a sequence of pointcloud data in sensor_msgs/PointCloud2 messages using the RosmsgWriter with numpy_pc2.array_to_pointcloud2 from pypcd library. When I try to read the sensor_msgs/PointCloud2 messages from the mcap file using the example you provided the pointcloud data are serialized (which is what is expected), but I would like to ask you if there is a way to deserialize them and transform them back to numpy arrays. Is there such a function that I use it?

[jtbandes]

Try using the mcap_ros1 package as described here: https://mcap.dev/guides/python/ros1.html

Or for ROS 2: https://mcap.dev/guides/python/ros2.html

[konsgken]

Thanks a lot!