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sharkovadarya edited this page May 10, 2017 · 2 revisions

Dataset to rosbag converter

Application

The purpose of the project is to parse various datasets from RADISH repository and convert them to rosbag file format.

Currently supported

CARMEN log file format

CARMEN log files

The files are parsed line by line. A message is formed from each line and published to the corresponding topic.

Currently supported CARMEN messages:

  • odometry
  • rawlaser
  • robotlaser
  • truepos
  • nmeagga
  • nmearmc

How to install

A brief guide for installing ROS packages from github can be found on answers.ros.org.

Clone this repository to any folder you like. Copy the carmen_to_rosbag folder to your catkin workspace src folder. Change directory to the root of your catkin workspace and run catkin_make. Run this command:

source devel/setup.bash

Check if the package is installed with rospack find carmen_to_rosbag.

How to use

Run this command in your terminal: rosrun carmen_to_rosbag carmen_to_rosbag_node -i path_to_carmen_file -o path_to_bag_file

Don't forget to run roscore beforehand.

Test examples

Can be found in the RADISH repository. For example, take this.

Possible improvements/additions

  • Converting series of images to rosbag (apparently, this is possible)
  • Converting CARMEN maps to rosbag (not sure if possible)