multibags_to_csv package

This package converts multiple .bags including multiple robot topics including ais_info, boundary.

• Key feature:

  • Automatically makes subscriber and message synchronizer depending on the number of obstacles in a bag file.
  • Automatically goes over all the bags in sub-directories of a main folder.

• reference:

  • http://wiki.ros.org/message_filters/ApproximateTime

License

This project is licensed under the MIT License.

Authors: Mingi Jeong

Prerequisites

You need to have ROS (equal to or above kinetic), Ubuntu (equal to or above 16.04). For Kinetic, you need to change the replace code of /opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py of roslaunch api with the following code: https://raw.githubusercontent.com/sputnick1124/ros_comm/9e0cf2e52c28540b9515b2b43eacf56652008753/tools/roslaunch/src/roslaunch/config.py

Dependencies

1. obstacle_avoidance_ros_pkg
   • this pkg includes messages such as ais_info, boundary, running_time.
2. mavros-related

sudo apt-get install ros-{yourdistro}-mavros ros-{yourdistro}-mavros-extras

Install

Clone this package into your catkin_ws and do catkin_make for building.

cd catkin_workspace/src
git clone https://github.com/dartmouthrobotics/multibags_to_csv.git
cd ..
catkin_make

Usage

Multiple bag converter

---

In principle, this converter is playing the bag and running time sync converter as a single .csv combined.

1. configuration of main bag path

• Inside param/param.yaml, change bag_path:/home/minkbrook/Desktop/testbag/MOA+/ as per the main path in your computer which includes all bags. Make sure to close with / at the end of the string.
• The code will walk through all sub-folders to find .bag files.

2. Running

• run the auto converter node (time-sync csv across all agents)

  roslaunch multibags_to_csv auto_converter.launch
  

Additional script

---

This below does not require playing the bag and directly convert to .csv, e.g., each drone to separate .csv

• running time converter script (old)
  • change the path inside ConverterRuntime.py
  • Note that the bag file contains running_time topic for computational time records.

  python ConverterRuntime.py
  

• pose converter script (old)
  • change the path inside ConvertertPosition.py
  • Note that the bag file contains each agent position topic for pose.

  python ConvertertPosition.py
  

• Single python script that can do all (new)
  • change indiv-converter.yaml file first!
  • no need to change param.yaml
  • change PARAM_INTEREST in ConverterParams.py
  • give the -p as the folder where (multiple) bag is located

  python ConverterParams.py -p /mnt/mydrive/catabot_bag/barbados2024/test/test/
  

TODO

• ground truth extractor such as ConverterGT.py