How to run our own data (How to generate the .bag data like the sample data)?

hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

GNU General Public License v2.0

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How to run our own data (How to generate the .bag data like the sample data)? #106

Closed hama-agrmet closed 2 months ago

hama-agrmet commented 2 months ago

I'm trying to run the FAST-LIVO with our own data. Now I have a complete set of equipment as following site (https://github.com/ziv-lin/rxlive_handheld). However, I can't get the .bag data with RGB camera data (img_topic). Could you please tell me how to save the LiDAR data and RGB camera data together in a .bag?

Es1erda commented 2 months ago

Thank you for your interest in this work. You can first use rostopic listto check if the relevant topics are being published correctly. Then, use rosbag record -a to record all topics. Additionally, you might be interested in following our open-source handheld project: https://github.com/sheng00125/LIV_handhold.