The following tool extracts driving data stored in rosbag files.
Initial ROS package setup:
$ cd driving_data
$ catkin_make
$ source devel/setup.bash
rosbag_data_extract_unsync is a python script that subscribes to the following topics:
/camera0/image_raw : sensor_msgs/Image
/camera1/image_raw : sensor_msgs/Image
/camera2/image_raw : sensor_msgs/Image
/can_raw : kvaser/CANPacket
/nmea_sentence : nmea_msgs/Sentence
/points_raw : sensor_msgs/PointCloud2
The script stores image files as png, can data as binary files, nmea_sentence in a csv file and points_raw as pcd files. Data is not synchronized. Each message has its own timestamp.
###Example of usage:
$ python driving_data/src/driving_data_tools/scripts/rosbag_data_extract_unsync.py output_directory/
The parameter specifies the path into which data will be saved.
Requirements:
- ROS
- Python 2.7
- pcl 1.7
- Cython 0.21
- NumPy 1.8
rosbag_data_extract is a python script that subscribes to the following topics:
/camera0/image_raw : sensor_msgs/Image
/camera1/image_raw : sensor_msgs/Image
/camera2/image_raw : sensor_msgs/Image
/can_raw : kvaser/CANPacket
/nmea_sentence : nmea_msgs/Sentence
/points_raw : sensor_msgs/PointCloud2
The script stores image files as png, can data as binary files, nmea_sentence in a csv file and points_raw as pcd files. All data is synchronized, so messages containing important data detail might be lost.
###Example of usage:
$ python driving_data/src/driving_data_tools/scripts/rosbag_data_extract.py output_directory/
The parameter specifies the path into which data will be saved.
Requirements:
- ROS
- Python 2.7
- pcl 1.7
- Cython 0.21
- NumPy 1.8