Problem converting pcap data for Velodyne VLP16 to bag

asked 2019-08-12 22:04:12 -0500

3fmeow gravatar image

updated 2019-08-13 03:00:42 -0500

Hi, I tried to convert my existing VLP16 pcap data into a bagFile on the Nvidia Jetson TX2, the system is ubuntu16.04, and my ROS version is rosdistro: kinetic, rosversion: 1.12.14。 My specific operation is as follows:

roscore

rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=2019-08-12-16-25-42_Velodyne-VLP-16-Data.pcap _read_once:=ture

rosrun rosbag record -O out.bag /velodyne_packets

All of the above commands are executed on separate terminals, the directories are all under ~/catkin_ws. The print after running is as follows:

nvidia@tegra-ubuntu:~/catkin_ws$ rosrun velodyne_driver velodyne_node _model:=VLP16 _pcap:=2019-08-12-16-25-42_Velodyne-VLP-16-Data.pcap _read_once:=ture
[ INFO] [1565660992.759999258]: Connected to master at [192.168.1.145:11311]
[ INFO] [1565660992.850731557]: Velodyne VLP-16 rotating at 600 RPM
[ INFO] [1565660992.855340824]: publishing 76 packets per scan
[ INFO] [1565660992.876346156]: Cut at specific angle feature deactivated.
[ INFO] [1565660992.948074155]: Reconfigure Request
[ INFO] [1565660992.969593794]: expected frequency: 9.921 (Hz)
[ INFO] [1565660992.988471853]: Opening PCAP file "2019-08-12-16-25-42_Velodyne-VLP-16-Data.pcap"

nvidia@tegra-ubuntu:~/catkin_ws$ rosrun rosbag record -O out.bag /velodyne_packets
[ INFO] [1565661028.946797202]: Subscribing to /velodyne_packets
[ INFO] [1565661028.998220925]: Recording to out.bag.

I found that rosrun does not automatically stop. My pcap file is just 500M, but the out.bag.active generated keeps increasing until it consumes all my memory. The terminal running "rosrun rosbag record" prints as follows:


[ERROR] [1565658232.313979005]: Less than 1G of space free on disk with out.bag.active.  Disabling recording.
[ WARN] [1565658233.523430843]: Not logging message because logging disabled.  Most likely cause is a full disk.
[ WARN] [1565658238.586820388]: Not logging message because logging disabled.  Most likely cause is a full disk.
[ WARN] [1565658243.629153351]: Not logging message because logging disabled.  Most likely cause is a full disk.
[ WARN] [1565658248.689248651]: Not logging message because logging disabled.  Most likely cause is a full disk.
[ERROR] [1565658252.320415583]: Less than 1G of space free on disk with out.bag.active.  Disabling recording.
[ WARN] [1565658253.738413192]: Not logging message because logging disabled.  Most likely cause is a full disk.
[ WARN] [1565658258.798320965]: Not logging message because logging disabled.  Most likely cause is a full disk.

I just started using ROS is a novice, really looking forward to reply, thank you very much.

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Comments

Change a pcap file and try it again. The generation will end automatically and printend of file reached -- done reading. . 300M pcap file generate around 1.2G bagfile. Maybe I converted it to pointclound2?

3fmeow gravatar image3fmeow ( 2019-08-15 01:50:29 -0500 )edit