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Any one can create a bag file for me?

asked 2014-05-04 09:57:24 -0600

maysamsh gravatar image

updated 2014-11-22 17:05:03 -0600

ngrennan gravatar image


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?

prince gravatar image prince  ( 2014-05-04 22:30:51 -0600 )edit

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answered 2014-05-04 18:39:26 -0600

fergs gravatar image

updated 2014-05-17 11:29:13 -0600

There are a number of differential drive robots with lasers available here: 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: . 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 gravatar image maysamsh  ( 2014-05-04 20:33:42 -0600 )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 gravatar image fergs  ( 2014-05-05 10:29:00 -0600 )edit

Finally I had to use MIT dataset.

maysamsh gravatar image maysamsh  ( 2014-06-11 01:22:51 -0600 )edit

answered 2014-05-17 20:13:02 -0600

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 gravatar image maysamsh  ( 2014-05-17 21:17:36 -0600 )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 gravatar image slivingston  ( 2014-05-21 10:01:36 -0600 )edit

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Asked: 2014-05-04 09:57:24 -0600

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Last updated: May 17 '14