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Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

mrpt_navigation: mrpt_bridge | mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_msgs | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

This package enables you to record a rawlog from a ROS drive robot. At the moment the package is able to deal with odometry and 2d laser scans.

Description

This package provides two nodes:

  • mrpt_rawlog/rawlog_record_node: Grabs MRPT rawlogs from ROS topics.

  • mrpt_rawlog/rawlog_play_node: Like rosbag play but takes MRPT rawlogs as input.

Provided examples:

roslaunch mrpt_rawlog demo_play.launch

See demo_play.launch online.

roslaunch mrpt_rawlog demo_record.launch

See demo_record.launch online.

Apart from these nodes, the following non-ROS software exists for handling rawlogs:

  • RawLogViewer: A powerful GUI, useful to quickly visualize the contents of any dataset, modify it, export and import to other formats, etc... See this video on how a RGBD (Kinect) dataset is quickly browsed in this GUI.

  • rawlog-grabber: A command-line standalone program to grab observations from a number of sensors and put all together into a single timestamp-ordered dataset file. Works on GNU/Linux and Windows.

  • rawlog-edit: A command-line equivalent of RawlogViewer for manipulating, filtering, etc. datasets.

  • carmen2rawlog: A command-line tool to import CARMEN logs as Rawlog datasets.

Nodes

rawlog_play_node

The rawlog_play_node node parses a Rawlog file and emit its messages as rosbag play.

Published Topics

tf (tf/tfMessage)
  • Poses of the different sensors and odometry.

Parameters

~base_frame (string, default: "base_link")
  • The frame attached to the mobile base.

Provided tf Transforms

mapodom
  • XXX

rawlog_record_node

The rawlog_record_node node subscribes to topics and writes a Rawlog file, like rosbag record.

Published Topics

tf (tf/tfMessage)
  • Poses of the different sensors and odometry.

Parameters

~raw_log_folder (string, default: "~/")
  • The output directory in which to store rawlogs.

Wiki: mrpt_rawlog (last edited 2016-01-22 16:28:21 by Jose Luis Blanco)