rtk

0. Setup

conda create -n rtk python=3
conda activate rtk
pip install -r requirements.txt -U

For users who only want to export trajectory maps without finding events, just skip the steps below and run:

python3 src/find.py [bags_dir] -m ./trajectories

where [bags_dir] is the directory containing the rosbags.

1. Parse excel to args.txt

This command will generate args.txt in the current directory. Check args.txt to make sure the excel is parsed correctly. Remove the rows you don't want to process.

./1_parse_excel.sh [excel_path]

2. Find events

This command will generate events directory containing JSON files of enter/exit events.

./2_find_events.sh [bags_dir]

3. Record odometry

This command will generate processed_bags directory containing rosbags of odometry data.

Please modify the script to use either events directory or filtered bags directory.

./3_record_odometry.sh [events_or_bags_directory]

4. Extract odometry to CSV

This command will generate csv_output directory containing CSV files extracted from processed bags.

./4_extract_odom.sh

5. Clean outputs

This command will clean all outputs.

yes | ./5_clean_outputs.sh