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Takes a rosbag file and converts it to a matlab mat file based on settings specified in a Dictionary and a yaml config file.
- Dictonary: The dicionary file specified which variables from each message type should be moved to the matlab array.
eg
sensor_msgs/NavSatFix: t.to_sec(), m.latitude, m.longitude, m.altitude
See config/bag2mat_dic.yaml for full example. - Configuration: This file specified which topic names should be transferred to matlab and under which variable name.
A list of
-[topic name, message type, name for variable in matfile]
See config/bag2mat_config.yaml for full example.
- Dictonary: The dicionary file specified which variables from each message type should be moved to the matlab array.
eg
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Currently needs the following packages:
- rosbag
- roslib
- scipy
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Put this repo in the src folder of ros workspace and run
catkin_make source devel/setup.bash usage: bag2matpy [-h] [-c CONFIG_FILE] [-d DICTIONARY] [-i input_bagfile]
Complete List of Arguments: -h, --help show this help message and exit -i INPUT_BAGFILE, --input_bagfile INPUT_BAGFILE Input rosbag file to input -o OUTPUT_DIR, --output_dir OUTPUT_DIR Output dir for matfile -c CONFIG_FILE, --config_file CONFIG_FILE Yaml file which specifies topic names to convert -d DICTIONARY, --dictionary DICTIONARY Dictionary file which specifies how to read the topic -s, --subtract_start_time Boolean flag to specify whether to include offset_time obtained by subtracting bag start_time from all timestamps
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A ros package to extract and convert data from rosbag files to Matlab mat files
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alalagong/bag2mat
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A ros package to extract and convert data from rosbag files to Matlab mat files
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- Python 66.3%
- CMake 33.7%