CSV Files for Ground Truth

MostafaOsman144 commented 4 years ago

I can't find the Groundtruth CSV files of any bagfiles except for GPS-RTK-20180719. In another issue, it is mentioned that the ground truth is in nemea_sentence, how can I convert the string inside these messages to xyz coordinates similar to those in the CSV files ?

yzrobot commented 4 years ago

There's only one CSV file, you need to generate the others by yourself. With:

  <!-- Magellan ProFlex 500 GNSS Receiver -->
  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" output="screen"/>
  <node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
  <node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>

you can get GT position from /magellan_proflex500_driver/marker_array and easy to save as CSV file.

MostafaOsman144 commented 4 years ago

Ok, I find it now, thank you.

subshine commented 4 years ago

There's only one CSV file, you need to generate the others by yourself. With:
  
  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" output="screen"/>
  <node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
  <node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>
you can get GT position from /magellan_proflex500_driver/marker_array and easy to save as CSV file.

When I launch the launch file and play bag, but I cannot echo /fix or /magellan_proflex500_driver/marker_array data through the ros topic,how to deal with?

yzrobot commented 4 years ago

Hi, if you are using this https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch, you should be able to see:

$ rostopic echo /fix 
header: 
  seq: 540
  stamp: 
    secs: 1532017068
    nsecs: 403332926
  frame_id: "navsat"
status: 
  status: 2
  service: 1
latitude: 47.51322485
longitude: 6.79003481667
altitude: 412.084
position_covariance: [0.81, 0.0, 0.0, 0.0, 0.81, 0.0, 0.0, 0.0, 3.24]
position_covariance_type: 1

$ rostopic echo /magellan_proflex500_driver/marker_array
markers: 
  - 
    header: 
      seq: 11
      stamp: 
        secs: 1532016960
        nsecs: 401259270
      frame_id: "navsat"
    ns: ''
    id: 0
    type: 4
    action: 0
    pose: 
      position: 
        x: 0.0
        y: 0.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 0.0
    scale: 
      x: 0.1
      y: 0.0
      z: 0.0
    color: 
      r: 1.0
      g: 0.5
      b: 0.0
      a: 1.0
    lifetime: 
      secs: 1
      nsecs:         0
    frame_locked: False
    points: 
      - 
        x: 0.0
        y: 0.0
        z: 0.0
      - 
        x: 0.0
        y: 0.0
        z: 0.0
      - 
        x: 0.0
        y: 0.0
        z: 0.000999999999976
      - 
        x: 0.00114960712381
        y: -0.00373996421695
        z: -0.00200000000001
      - 
        x: -0.00109697657172
        y: 0.00559211988002
        z: -0.00100000000003
      - 
        x: 0.00130749872187
        y: 0.00181649718434
        z: 0.000999999999976
      - 
        x: -0.0011496070656
        y: 0.00373996514827
        z: -0.00100000000003
      - 
        x: 0.000105261104181
        y: 0.00370430760086
        z: -0.00100000000003
      - 
        x: 0.000157891598064
        y: 0.00555646140128
        z: 0.0
      - 
        x: -0.00365934561705
        y: 0.00381128210574
        z: 0.00200000000001
      - 
        x: -0.00491421384504
        y: 0.00384693965316
        z: 0.00200000000001
      - 
        x: -0.00622171256691
        y: 0.00203044526279
        z: 0.000999999999976
    colors: []
    text: ''
    mesh_resource: ''
    mesh_use_embedded_materials: False
---

subshine commented 4 years ago

Hi, if you are using this https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch, you should be able to see:

$ rostopic echo /fix 
header: 
  seq: 540
  stamp: 
    secs: 1532017068
    nsecs: 403332926
  frame_id: "navsat"
status: 
  status: 2
  service: 1
latitude: 47.51322485
longitude: 6.79003481667
altitude: 412.084
position_covariance: [0.81, 0.0, 0.0, 0.0, 0.81, 0.0, 0.0, 0.0, 3.24]
position_covariance_type: 1

$ rostopic echo /magellan_proflex500_driver/marker_array
markers: 
  - 
    header: 
      seq: 11
      stamp: 
        secs: 1532016960
        nsecs: 401259270
      frame_id: "navsat"
    ns: ''
    id: 0
    type: 4
    action: 0
    pose: 
      position: 
        x: 0.0
        y: 0.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 0.0
    scale: 
      x: 0.1
      y: 0.0
      z: 0.0
    color: 
      r: 1.0
      g: 0.5
      b: 0.0
      a: 1.0
    lifetime: 
      secs: 1
      nsecs:         0
    frame_locked: False
    points: 
      - 
        x: 0.0
        y: 0.0
        z: 0.0
      - 
        x: 0.0
        y: 0.0
        z: 0.0
      - 
        x: 0.0
        y: 0.0
        z: 0.000999999999976
      - 
        x: 0.00114960712381
        y: -0.00373996421695
        z: -0.00200000000001
      - 
        x: -0.00109697657172
        y: 0.00559211988002
        z: -0.00100000000003
      - 
        x: 0.00130749872187
        y: 0.00181649718434
        z: 0.000999999999976
      - 
        x: -0.0011496070656
        y: 0.00373996514827
        z: -0.00100000000003
      - 
        x: 0.000105261104181
        y: 0.00370430760086
        z: -0.00100000000003
      - 
        x: 0.000157891598064
        y: 0.00555646140128
        z: 0.0
      - 
        x: -0.00365934561705
        y: 0.00381128210574
        z: 0.00200000000001
      - 
        x: -0.00491421384504
        y: 0.00384693965316
        z: 0.00200000000001
      - 
        x: -0.00622171256691
        y: 0.00203044526279
        z: 0.000999999999976
    colors: []
    text: ''
    mesh_resource: ''
    mesh_use_embedded_materials: False
---

Thank you very much!

YangSiri commented 3 years ago

HI, @yzrobot

When i launch the following

There's only one CSV file, you need to generate the others by yourself. With:
  
  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" output="screen"/>
  <node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
  <node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>
you can get GT position from /magellan_proflex500_driver/marker_array and easy to save as CSV file.

There is an error called "ERROR: cannot launch node of type [magellan_proflex500_driver/magellan_proflex500_driver]: magellan_proflex500_driver ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/cyz/workspace/catkin_main/src ROS path [2]=/opt/ros/melodic/share"

so the node is not actived. What may be the problem ?

Looking forward to your help;)

yzrobot commented 3 years ago

Hi, do you have the corresponding driver installed? Please check here and here.

YangSiri commented 3 years ago

Yes, @yzrobot

The magellan_proflex500_driver is built as well as the others.

epan-utbm / utbm_robocar_dataset

CSV Files for Ground Truth #7