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Convert pcap to bag file

asked 2017-08-09 10:57:44 -0500

BorisLerouxFox gravatar image

Dear everyone,

I got som trouble when trying to convert a *.pcap file into a *.bag file.

I try the method explained here : https://answers.ros.org/question/2130...

In a first terminal I launch :
roscore
Then in second one, I launch :
rosrun rosbag record -o your_vlp16_070815.bag /velodyne_packets to open the recording file ?
and finally in the third one, I launch :
rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=bureau.pcap _read_once:=true to play the pcap file.

I wait until the third command finish ("done" message), then CTRL+C the second command. I got a .*bag file. After this, I try to view it using RVIZ following this method : https://answers.ros.org/question/2272...

rosrun rviz rviz -f velodyne
rosrun velodyne_pointcloud cloud_node
rosbag play your_vlp16_070815.bag

I work with ROS Kinetic on Ubuntu 16.04.

Questions :

  • I don't have calibration file (*.yaml) because I get no file from VLP16 distributor. Can you provide me a sample file even if it doesn't correspond to my sensor ?
  • When I run the viewer, I get "No tf data. Actual error: Fixed Frame [velodyne] does not exist". I get no points on the screen. Any idea ?

Best regards, Boris Leroux

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Comments

how much time does the third terminal require to finish. Its already more than a hour

sohel gravatar image sohel  ( 2017-11-08 00:46:06 -0500 )edit

That will depend on the size of the pcap file. Are you not seeing the done message?

gvdhoorn gravatar image gvdhoorn  ( 2017-11-08 03:19:37 -0500 )edit

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answered 2018-04-14 14:52:40 -0500

SoVa gravatar image
  • When I run the viewer, I get "No tf data. Actual error: Fixed Frame [velodyne] does not exist". I get no points on the screen. Any idea ?
    • You can try rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link velodyne 10. This worked for me. If you have extrinsic data you may input those here. Furthermore select velodyne as fixed frame in rviz.
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Asked: 2017-08-09 10:57:44 -0500

Seen: 3,179 times

Last updated: Aug 09 '17