Command-line tool to convert raw laser scan data to bag file data

asked 2011-11-21 19:56:04 -0500

alfa_80
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I would like to convert raw laser scan data to bag file data, preferably, command-line one. Is there as such? By the way, I have tried to simply change the extension of the file straightaway to ".bag" from ".txt", unfortunately, it does not work.

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Could you please explain your problem a bit more? Where did you get the .txt file containing laser data? If I'm interpreting this correctly, you want to read from a text file and play that data into a bag file?

DimitriProsser ( 2011-11-22 00:47:52 -0500 )edit

I want to use polar_scan_matcher (http://ros.org/wiki/polar_scan_matcher) that takes an input from a rosbag file. I got the textfile from somebody.

alfa_80 ( 2011-11-22 00:52:36 -0500 )edit

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answered 2011-11-23 02:03:44 -0500

DimitriProsser

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At present, I don't believe there is any such utility. The best bet would be to look in the rosbag API. What is the format of the .txt file?

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The first 9 fields are fileds like ID, timestamp, roll, pitch, yaw etc and starting 10th field is laser scan value

alfa_80 ( 2011-11-23 02:54:56 -0500 )edit

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answered 2013-01-31 05:48:15 -0500

Tony C
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Hi all,

I wanted to know if alfa_80 eventually came across something that worked for him? I am in the same position at the moment. I have coded an algorithm (in C) and have used a freely available laser range finder data set from the RADISH repository.

I would like to use ROS and its libraries (specifically hector SLAM) to test the validity of my algorithm and to give my algorithm a base line to test against. However, in order to do this I need to convert my current data set into the ROS bag file format. My initial search has led me here.

I am new to the ROS environment and any assistance would be appreciated. Thanks in advance for the help.

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There can't be anything generic, because that depends on the data format. However, if it is from radish, it might be a CARMEN log file. Maybe you can look for ROS code that supports that. In any case writing something that just parses text data and publishes that should be easy.

dornhege ( 2013-01-31 06:40:22 -0500 )edit

I didn't find such a tool, however, I did manage to just read the data from a text file and publish which is done in a ROS node. I think it's exactly what @dornhege meant too.

alfa_80 ( 2013-02-01 00:06:00 -0500 )edit

Hi guys,

Firstly I would like to apologise for only replying now, I have had problems getting onto my email. Thanks for your suggestions, I will take them into consideration when looking at implementing my algorithm.

Tony C ( 2013-02-07 01:14:49 -0500 )edit

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Command-line tool to convert raw laser scan data to bag file data

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