I am creating some bagfiles to run BLAM offline with.
These bagfiles are captured by playing a pcap file from a VLP-16 over ROS and then using:
rosbag record velodyne_points
When running BLAM offline with these bagfiles, it consistently reports the final bagfile timestamp as 0.
As a result, it finishes processing immediately with the message "0 percent of real-time".
Originally, it only did this occasionally, and I would have to rerecord the bagfile, but now it seems to have this issue with every new bagfile I create.
BW25
commented
5 years ago
I am creating some bagfiles to run BLAM offline with. These bagfiles are captured by playing a pcap file from a VLP-16 over ROS and then using: rosbag record velodyne_points
When running BLAM offline with these bagfiles, it consistently reports the final bagfile timestamp as 0. As a result, it finishes processing immediately with the message "0 percent of real-time". Originally, it only did this occasionally, and I would have to rerecord the bagfile, but now it seems to have this issue with every new bagfile I create.
rosbag info shows the timestamps are correct: path: 2019-09-03-14-49-55.bag version: 2.0 duration: 25.7s start: Sep 03 2019 14:50:00.25 (1567536600.25) end: Sep 03 2019 14:50:25.97 (1567536625.97) size: 108.8 MB messages: 256 compression: none [119/119 chunks] types: sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: velodyne_points 256 msgs : sensor_msgs/PointCloud2
Output of BLAM is below:
process[blam/blam_slam-1]: started with pid [14972] [ INFO] [1567535351.366634839]: /blam/blam_slam/BlamSlam: Registering log callbacks. [ INFO] [1567535351.467821973]: /blam/blam_slam/BlamSlamOffline: Processing the following topics: /velodyne_points [ INFO] [1567535351.504473592]: /blam/blam_slam/BlamSlamOffline: Bag start time = 4294967296.000000 Bag end time = 0.000000 [ INFO] [1567535351.504684024]: /blam/blam_slam/BlamSlamOffline: Replay start time = 0.000000 Replay end time = 4294967296.000000 [ INFO] [1567535351.505739829]: /blam/blam_slam/BlamSlamOffline: Sorting messages. [ INFO] [1567535351.505880981]: /blam/blam_slam/BlamSlamOffline: Processing messages. [ INFO] [1567535351.506002772]: /blam/blam_slam/BlamSlamOffline: Finished processing bag file, 0.000000 percent of real-time.