主要参考https://blog.csdn.net/m0_45388819/article/details/108582312rosbagtopic映射：https://blog.csdn.net/u014374826/article/details/139784531kitti官网：https://www.cvlibs.net/datasets/kitti/raw_data.php过程命令：kitti2bag-t2011_09_26-r0009raw_synced（