MH_01_PreRecordedUAV.bag

VIS4ROB-lab / pose_graph_backend

Multi-agent Pose-Graph Sensor Fusion - from "Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020

GNU General Public License v3.0

26 stars 6 forks source link

MH_01_PreRecordedUAV.bag #4

Closed chen12345678910 closed 2 years ago

chen12345678910 commented 2 years ago

How to generate MH_01_PreRecordedUAV.bag under folder pose_graph_backend/data？

lucaBartolomei commented 2 years ago

You would need to run these nodes (assuming one agent with ID 0):

Play the original MH rosbag file
Run the node vins_estimator(e.g. roslaunch vins_estimator multi_euroc_0.launch)
Run the node pcl_fusion (e.g. roslaunch pcl_fusion pcl_fusion_node_euroc.launch)

Then you can record the output topics to the target rosbag. The topics you will need are:

/leica_0/position
/pcl_fusion_0/fused_pcl
/pcl_fusion_0/fused_vins_keyframe
/pose_graph_0/vins_keyframe
/vins_estimator_0/odometry

lucaBartolomei commented 2 years ago

Closing due to inactivity. Feel free to re-open in case you need further support.