I have a prerecorded lidar point-clouds as pcap-file and also IMU and GPS records. All sensors were synchronized over gps-time. I would like to publish them as ROS-messages in real-time, which means I should read each point-cloud frame and imu-measurement at their own sample rates (IMU=125HZ, Lidar=10HZ) and publish them as ros-messages.
I would like to know if it is possible, and what is the best way to achieve this?
Thanks