loppo's profile - activity

Hi, i,ve managed to create some bags starting from some carmen log file. Now i'm trying to use those bags with for gmapping but while rosbag play doesn't show any error, gmapping get stuck at:

update frame 0
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 0
Registering First Scan

so when i try to get the map file using "rosrun map_server map_saver" only a partial map file is given.

While doing this procedure with the bag given in the gmapping from logged data tutorial nothing get wrong.

one of the bags i'm trying to use is this: db.tt/BawU5lXp

Is there a way to check if the bag is suitable for what i'm doing ? what can be the problem ?

the problem was that i was using the Float64,UInt8 types from the std_msgs.msg library, using normal float and int types solve the problem. (still the script above need modifications to create a working bag)

Hi, i'm trying to convert a carmen log file in a rosbag file. for the moment i just tried to port the odometry information with are defined in the carmen file as: ODOM x y theta tv rv accel

the problem is that when i try to write on the bag file it gives me this error:

Traceback (most recent call last):
  File "con.py", line 31, in <module>
    bag.write("tf",mes)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosbag/bag.py", line 375, in write
    msg.serialize(self._buffer)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/geometry_msgs/msg/_TransformStamped.py", line 126, in serialize
    except struct.error as se: self._check_types(se)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/genpy/message.py", line 313, in _check_types
    raise SerializationError(str(exc))
genpy.message.SerializationError: required argument is not a float

i think my message is well formatted according to api message format.

this is the script that i'm using

import rosbag,rospy
from std_msgs.msg import Int32, String,Header,Float64,Time,UInt8
from geometry_msgs.msg import TransformStamped,Transform,Vector3,Quaternion

rospy.init_node("time")

def odomlist(l,od_id):
    header = Header()
    #header.seq = od_id
    header.frame_id = "od"
    header.stamp = rospy.get_rostime()
    vector=Vector3(Float64(l[1]),Float64(l[2]),Float64(0.0))
    quat=Quaternion(Float64(l[3]),Float64(l[4]),Float64(l[5]),Float64(l[6]))
    tr=Transform(vector,quat)
    return (TransformStamped(header,"las",tr))


od_id=UInt8()
od_id.data=0
inp=open("carmen.clf","r")
inp=inp.readlines()
bag = rosbag.Bag('bag.bag','w')

for lines in inp:
    l=lines.split(" ")
    if l[0]=="ODOM":
        print (l)
        od_id.data+=1
        mes=odomlist(l,od_id)
        print str(mes)
        bag.write("tf",mes)

bag.close()

can someone explain me why it gives me that error ? i'm not sure if this conversion can work or if there is a better way to do this so if someone have a better idea just tell me or point me to some tutoriol.

hi,

I'm new to ROS so maybe my question is silly but...

i've followed the ROS tutorial to get the map and the occupancy matrix starting from the bag file provided in the example.

Where can i find other bag file to play with ?

I've searched on the web but seems that all the laserscan dataset are provided in other format, like carmen log file or others. Maybe there's a way to use these different file format logs to produce maps and occupancy matrix ?