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How do I convert csv format to rosbag?

asked 2016-11-29 18:25:25 -0500

Jolton gravatar image

Hello there, I am working on this project which expects me to run SLAM on ROS using any filter of my choice. I have decided to choose gmapping SLAM. I am provided with two datasets from , namely Odometry and Laser sensor datasets in csv file format. As far as I know, I think I need to create a rosbag file for entering these two datasets to my node as inputs. If I am not wrong, please help me regarding how to change the csv files into rosbag format and if I am mistaken, please guide me how to go ahead with using these csv files to map using gmapping. Thank You in advance.

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answered 2016-12-01 01:29:16 -0500

gvdhoorn gravatar image

Take a look at In ros gmapping, how to use Intel Research Lab dataset? for a related question.

You don't need to create a bag per se (an alternative would be writing a node that reads in the csvs, creates appropriate messages and publishes those), but it's probably a very good idea, as it lets you reuse a bunch of tools that either work directly with bags or by relying on rosbag play .. etc.

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Asked: 2016-11-29 18:25:25 -0500

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Last updated: Dec 01 '16