E Rosbag
The log data is in .bag format, the standard logging format for ROS. To simply view and play the data Foxglove Studio is the easiest solution. It works on Windows, Linux and Mac. Another popular option is MATLAB. The data can be imported, viewed and edited in MATLAB. If you are familiar with ROS C++ or python can be a good option too. Python also offers possibilities top open the rosbags without ROS, similarly to MATLAB. The postprocessed 3D pointcloud data is in .pcd (Point Cloud Data) file format, it is a common format used inside Point Cloud Library (PCL). Also pcd can be imported easily to MATLAB / python.
Here are some example rosbags: https://github.com/szenergy/szenergy-utility-programs/tree/master/bag_scripts
- https://www.mathworks.com/help/ros/ref/rosbag.html
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/rosbagdisplay.m
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/rosbagcamandlidar.m
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/rosbagxyvp.m
- https://github.com/jmscslgroup/bagpy
- http://wiki.ros.org/rosbag/Code%20API
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/rosbaginfobagpy.py
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/rosbaginfoimagedisplay.py
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/changetimestamp.py
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/changetopics.py
- https://github.com/szenergy/szenergy-utility-programs/blob/master/bag_scripts/gpshistogram.py
Go to https://jkk-research.github.io/#dataset download a .bag and a .json foxglove layout.
Go to https://foxglove.dev and try the online studio or download the app fron Windows / Linux / Mac.
Load the .bag with Open local file button.
Go to the second icon (layout) and open the .json file
Press play and play aroud the data.
