Ideas for next agrob bagfile

[miguelriemoliveira]

Hi @aaguiar96 ,

This issue is just to collect the ideas of what we can do better in the next bag file.

1. longer time (4 or 5 mins)

2. record also joint_states (input for the robot_state_publisher to publish tfs). Do you have some in the system?

3. patten on landscape orientation

4. fix the vlp16_frame / velodyne link

X. ... more stuff ?? Please add)

[aaguiar96]

Yes, thanks. I will have that into account:

Being to close from the sensors so that the charuco is detected from the camera

[miguelriemoliveira]

I agree with all of the above.

My suggestion is to consider trying to do something like this (not sure if you should, but at least consider)

https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration

where the pattern is held by a fixed mechanism. It can be a tripod or a chair (provided the segmentation works fine)

[aaguiar96]

Hi @miguelriemoliveira and @eupedrosa

I recorded four rosbags today. Here they are: https://drive.google.com/file/d/1Dw241gu8epQz9HEXsD6ALUT3X3YtlNwT/view?usp=sharing.

[miguelriemoliveira]

Hi @aaguiar96 ,

Apart from the suckers (ventosas) and eventually the part about also saving the undistorted image I see no more possible improvements. We've come a long way from the first bag file. Should we close?

[aaguiar96]

Yes @miguelriemoliveira.