Unable to convert recorded trajectory bag file to kitti format

[boybestak99]

Description: Hi, I am trying to convert the trajectory bag file which I have recorded using A-Loam slam algorithm. However, when I run the command below. I experience error in converting the bag file into kitti format. I have attached my bag file in .txt format. Is there any way I can change the message type of the bag file?

Command:

evo_traj bag aloam_trajectory.bag /aft_mapped_path --save_as_kitti

Console output:

[ERROR] unsupported message type: nav_msgs/Path

Additional info (if needed) evo version v1.12.0 python version 2.7.17 ubuntu 18.04

• output of evo_config show --brief --no_color: { "console_logging_format": "%(message)s", "euler_angle_sequence": "sxyz", "global_logfile_enabled": false, "plot_axis_marker_scale": 0.0, "plot_backend": "Qt5Agg", "plot_export_format": "pdf", "plot_figsize": [ 6, 6 ], "plot_fontfamily": "sans-serif", "plot_fontscale": 1.0, "plot_invert_xaxis": false, "plot_invert_yaxis": false, "plot_linewidth": 1.5, "plot_mode_default": "xyz", "plot_multi_cmap": "none", "plot_pose_correspondences": false, "plot_pose_correspondences_linestyle": "dotted", "plot_reference_alpha": 0.5, "plot_reference_color": "black", "plot_reference_linestyle": "--", "plot_seaborn_palette": "deep6", "plot_seaborn_style": "darkgrid", "plot_split": false, "plot_statistics": [ "rmse", "median", "mean", "std", "min", "max" ], "plot_texsystem": "pdflatex", "plot_trajectory_alpha": 0.75, "plot_trajectory_cmap": "jet", "plot_trajectory_linestyle": "-", "plot_usetex": false, "plot_xyz_realistic": true, "ros_map_alpha_value": 1.0, "ros_map_unknown_cell_value": 205, "save_traj_in_zip": false, "table_export_data": "stats", "table_export_format": "csv", "table_export_transpose": true, "tf_cache_lookup_frequency": 10, "tf_cache_max_time": 10000.0 } [Uploading output_data.txt…]()

[MichaelGrupp]

As the error says, nav_msgs/Path topics are not supported. The supported topic types are listed here: https://github.com/MichaelGrupp/evo/wiki/Formats#bag--bag2---ros1ros2-bagfile

[boybestak99]

Thank you for your reply. Is there a way to convert into the supported formats?

[MichaelGrupp]

There is a way but you need to code your own script that loads the Path messages and converts them to a PoseStamped topic. Should be relatively easy in Python with the rosbag API.