Recording my own .bag data to run this code with my own robot base

[keithxs]

For running this code, how can I record my own .bag data to replace the sequence3_kinect.bag on my own robot base?
Is the procedure like this：

1. turn on my robot base，and publish the /odom topic
2. turn on laser sensor, and publish the /scan topic
3. turn on kinect sensor, and publish the /kinect2/qhd/image_color_rect/compressed and /kinect2/qhd/image_depth_rect/compressed topic
4. Start recording .bag data

Can you please provide more details?
Very thanks.

[renatojmsdh]

Hello @keithxs,
Yes, you should be able to use your own recorded bag. The system also needs the "camera_info" topic for reconstructing the point cloud. Otherwise, all the topics you mentioned are the ones required for running the mapping with the object instances.

You also need to handle the topics' names during the rosbag "play". For minimal changes in the code, one straightforward way is to adjust the topics names in the "robag play" directly in the file run script to remap them to the expected names in nodes (for instance in the localization node. For instance, to adjust the names of the camera_info and scan topics at the end of the play.sh file:

rosbag play --pause --clock my_bag_file.bag -r 1.0 [custom_name/camera_info]:=/kinect2/qhd/camera_info [custom_name/scan]:=/scan

Another way is to adjust the remap topic values directly on the launch files.
Hope it is more clear and please let me know if you succeed running the system with your own bags.
BTW I will also check and add information about running the system with custom bags recorded with other sensors (intel realsense) during this week (and eventually add a full setup also including the data recording from your question). I let you know when it is done.
Thanks.

[lecrosnier]

Hello @renatojmsdh,

I am fairly interested in that clarification regarding other sensors. I'm currently trying to have your code working on a realsense t265+d435 setup, but I'm having trouble finding my way around.

Thank you in advance