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Publishing the data from BAG file

asked 2021-04-14 13:29:22 -0500

SAM MATHEW gravatar image

updated 2021-04-14 18:48:23 -0500

jayess gravatar image

I am trying to learn ROS and filtering of point cloud. I performed some tutorials on the same. However now I am stuck that the data from node for bag file is not getting published. Please refer to the data from rostopic list -v

Published topics:
 * /rosout [rosgraph_msgs/Log] 4 publishers
 * /clock [rosgraph_msgs/Clock] 1 publisher
 * /all_velo [sensor_msgs/PointCloud2] 1 publisher
 * /diagnostics [diagnostic_msgs/DiagnosticArray] 1 publisher
 * /velodyne_points [sensor_msgs/PointCloud2] 1 publisher
 * /velodyne_pointcloud_TransformNodelet/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /velodyne_pointcloud_TransformNodelet/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /tf_static [tf2_msgs/TFMessage] 1 publisher
 * /tf [tf2_msgs/TFMessage] 1 publisher
 * /kitti/oxts/imu [sensor_msgs/Imu] 1 publisher
 * /kitti/oxts/gps/fix [sensor_msgs/NavSatFix] 1 publisher
 * /kitti/oxts/gps/vel [geometry_msgs/TwistStamped] 1 publisher
 * /kitti/camera_gray_left/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_gray_left/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/camera_gray_right/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_gray_right/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/camera_color_left/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_color_left/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/camera_color_right/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_color_right/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/velo/pointcloud [sensor_msgs/PointCloud2] 1 publisher
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher

Subscribed topics:
 * /velodyne_points [sensor_msgs/PointCloud2] 1 subscriber
 * /velodyne_packets [velodyne_msgs/VelodyneScan] 1 subscriber
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /statistics [rosgraph_msgs/TopicStatistics] 1 subscriber

I have used kitti2bag to convert to bag file. Below the commands used by me to run the package

roscore
rosrun nodelet nodelet standalone velodyne_pointcloud/TransformNodelet
rosrun beginner_tutorials all_velo input:=/velodyne_points
rosbag play -l kitti_2011_09_26_drive_0002_synced.bag

In rqt_graph I cannot see a topic from the node corresponding to rosbag I believe this is why I cannot convert the pointcloud.

I am not sure where I am making mistake.

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Comments

Hi, Can you write in a more understandable way what exactly you are trying to do?

Can you write again your steps? (e.g. "roscore" "roslaunch.." "rosbag play..")

TzviH gravatar image TzviH  ( 2021-04-14 15:30:40 -0500 )edit

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answered 2021-04-15 02:21:28 -0500

SAM MATHEW gravatar image

I got it fixed. I was not subscribing correct topic on all_velo. After changing the rosrun beginner_tutorials all_velo input:=/kitti/velo/pointcloud. It started working.

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Asked: 2021-04-14 13:29:22 -0500

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Last updated: Apr 15 '21