version: "1"
app_id: livox_to_pc2
app_version: "1.0.0"
hidden: true
setup_script: /opt/ros/noetic/setup.bash
name: Livox转PointCloud2
name_en: Livox to PointCloud2
name_ru: Livox в PointCloud2
description: 将Livox CustomMsg格式点云转换为sensor_msgs::PointCloud2格式，其他topic保持不变
description_en: Converts Livox CustomMsg point clouds to sensor_msgs::PointCloud2 format, other topics remain unchanged.
description_ru: Преобразует облака точек Livox CustomMsg в формат sensor_msgs::PointCloud2, остальные топики без изменений.
command_template: "{{app_dir}}/bin/livox_to_pc2 --input_bag {{input_bag}} --source_topic {{source_topic}} --target_topic {{target_topic}} --output_bag {{output_bag}}"
parameters:
  - name: input_bag
    type: path
    required: true
    description: 输入bag文件（含livox_ros_driver2/CustomMsg）
    source_dir: /home/ramy/savebag
    constraints:
      regex: '.*\.bag$'
  - name: source_topic
    type: string
    default: "/livox/lidar"
    description: Livox CustomMsg源topic
  - name: target_topic
    type: string
    default: "/livox/points"
    description: PointCloud2输出topic
  - name: output_bag
    type: path
    required: false
    description: 输出bag文件路径（留空自动在源文件名后加_pc2）
