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Viky397 / TorWICDataset

Releasing a novel dataset taken in a Clearpath Robotics warehouse.
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Question about contents of the TorWIC-Mapping bagfiles #6

Open glpuga opened 1 month ago

glpuga commented 1 month ago

In the TorWIC Mapping data set there's a /velocity_control/odom that looks intended to carry the odometry information, but the messages are tagged with map (parent) and odom_link (child) frames instead of odom_link -> base_link as I would have expected for odom data.

Is the information in this topic the pose of the robot in the odometry frame, or is it something else?

Thanks.

qianjin5 commented 1 month ago

Hi Gerardo, the /velocity_control/odom topic contains data produced by the Clearpath ROS driver. The twist components contain the robot linear and angular velocity in the base_link frame, whereas the poses are the accumulated values from some initial value. As I understood, the data collector did not reset odom between runs so you may need to manually transform the odom poses w.r.t. the actual init pose.

glpuga commented 1 month ago

Thanks a lot for the prompt response!

srividyaprasad commented 1 month ago

Hi Gerardo, the /velocity_control/odom topic contains data produced by the Clearpath ROS driver. The twist components contain the robot linear and angular velocity in the base_link frame, whereas the poses are the accumulated values from some initial value. As I understood, the data collector did not reset odom between runs so you may need to manually transform the odom poses w.r.t. the actual init pose.

Hello, can you help me with how to transform the velocity_control/odom topic into an odometry message type?

glpuga commented 1 month ago

Hello, can you help me with how to transform the velocity_control/odom topic into an odometry message type?

Hi! In my case I simply processed the bagfile with a python script using the rosbag python API that read the each message in the bagfile, and if it was a message in the velocity_control/odom topic, it renamed the parent and child frames in the message to be odom_link and base_link.

Hope that helps.

srividyaprasad commented 1 month ago

Understood, thank you. Helpful.

On Wed, Aug 14, 2024, 6:50 PM Gerardo Puga @.***> wrote:

Hello, can you help me with how to transform the velocity_control/odom topic into an odometry message type?

Hi! In my case I simply processed the bagfile with a python script using [the rosbag python API](examples for ROS 1: https://wiki.ros.org/rosbag/Cookbook) that read the each message in the bagfile, and if it was a message in the velocity_control/odom topic, it renamed the parent and child frames in the message to be odom_link and base_link.

Hope that helps.

— Reply to this email directly, view it on GitHub https://github.com/Viky397/TorWICDataset/issues/6#issuecomment-2288723386, or unsubscribe https://github.com/notifications/unsubscribe-auth/AU6LWD4UFWLB46ISPMEGSS3ZRNKQJAVCNFSM6AAAAABLOZOBFWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEOBYG4ZDGMZYGY . You are receiving this because you commented.Message ID: @.***>

awesomesiddhu commented 1 month ago

Hello, can you help me with how to transform the velocity_control/odom topic into an odometry message type?

Hi! In my case I simply processed the bagfile with a python script using the rosbag python API that read the each message in the bagfile, and if it was a message in the velocity_control/odom topic, it renamed the parent and child frames in the message to be odom_link and base_link.

Hope that helps.

Hi, how did you find the transform between odom_link and base_link?