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Rosbag proxy

This tool bridges the communication between ROS and LSD, it subscribes the ros topic and send it to LSD.

Build and Run

This tool should be built on a ROS installed PC (NOT inside the provided test docker)

cd tools/rosbag_proxy/
catkin_make
source devel/setup.bash
roslaunch rosbag_proxy rosbag_proxy.launch

# Open a new terminal and play the rosbag
rosbag play xxx.bag

Sample

The example rosbag can be downloaded Google Drive | 百度网盘(密码8m6n)

# follow the above doc and build the rosbag proxy tool, then roslaunch it
roslaunch rosbag_proxy rosbag_proxy.launch

# Open a new terminal and play the demo rosbag
rosbag play -l demo.bag

Replace the cfg/board_cfg_all.yaml with this cfg:

# start the LSD and preview the result at the web.
tools/scripts/start_system.sh

Playback other rosbag

You can modify the points_topic and imu_topic in rosbag_proxy.launch to match your bags.