Any one can create a bag file for me?

pr2
bagfile

asked 2014-05-04 09:57:24 -0500

maysamsh
139 ●16 ●20 ●25

updated 2014-11-22 17:05:03 -0500

ngrennan
1 ●1 ●1

Hello,

To work on my thesis I need a bag file from a PR2 (or similar differential wheeled robot) sensors, and follows a simple closed path, like a square or a triangle.

Topic that I need are:

/camera/rgb/image_rect /camera/rgb/camera_info /camera/depth_registered/image_rect /camera/depth_registered/camera_info /odom /imu /tf /scan

Can anyone do me this favor and prepare such bag file?

One more thing, there most be walls or something around the path to create a map with using gmapping.

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Have you tried KITTI dataset?http://www.cvlibs.net/datasets/kitti/ http://www.cvlibs.net/datasets/kitti/

prince ( 2014-05-04 22:30:51 -0500 )edit

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answered 2014-05-04 18:39:26 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

updated 2014-05-17 11:29:13 -0500

There are a number of differential drive robots with lasers available here: http://fergy.me/slam/ although the robots typically drove quite a long way. For some of the bag files, there are also ground truth maps in the form of .pgm files.

EDIT: just noticed this in another question I answered: MIT has also posted bagfiles acquired on a PR2: http://projects.csail.mit.edu/stata/d.. . These include a lot more than just laser data.

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It seems none of them have camera related topics, they are quite small files to have video data.

maysamsh ( 2014-05-04 20:33:42 -0500 )edit

Yes that is right -- I missed the list of topics you were looking for, and honed in on the "gmapping" and map building part. Sorry for the noise.

fergs ( 2014-05-05 10:29:00 -0500 )edit

Finally I had to use MIT dataset.

maysamsh ( 2014-06-11 01:22:51 -0500 )edit

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answered 2014-05-17 20:13:02 -0500

slivingston
239 ●3 ●7 http://scottman.net/

Would it not suffice to obtain the data from a Gazebo simulation? Try running rosbag while using the turtlebot_simulator package.

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Gazebo's odometry data are almost accurate and my computer is not able to run Gazebo and record bag file for in a large environment.

maysamsh ( 2014-05-17 21:17:36 -0500 )edit

What do you mean by "almost accurate"? If you do not want perfect position tracking, then you can add noise to it. Also note that you can run Gazebo headless, i.e., without the UI, which should make it workable for slow computers.

slivingston ( 2014-05-21 10:01:36 -0500 )edit

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Any one can create a bag file for me?

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