bag_to_traj

introduce

save nav_msgs/Odometry or nav_msgs/Path or geometry_msgs/PoseStamped message of .bag file to TUM/KITTI format.

Software architecture

Description Using ROS system and C++language, refer to CMakeLists.txt for configuration, usually only ROS and cmake need to be installed.

Installation and Compilation

Download this source code into the src folder of your catkin worksapce:

cd ~/catkin_ws/src
git clone https://github.com/hsiaochao/bag_to_traj
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

How to use it

1. According to the prompts, modify the parameters in the launch file, including outfile_path, topic_type, topic_name, save_format, rosbag.

  <!-- topic_type is [path/odom/pose] which are selected based on nav_msgs/Path or nav_msgs/Odometry or geometry_msgs/PoseStamped -->
  <!-- topic_name is TOPIC_NAME of .bag file -->
  <!-- save_format is [TUM/KITTI] which is you want to save as-->

2.run it

roslaunch bag_to_traj bag_to_traj.launch 

Wait for the bag file to finish playing, and the data will be saved to a local text file.

Participate in contributions

Fork warehouse
Create a new Feature_ Xxx branch
Submit code
Create a new Pull Request