Open ajay1606 opened 2 years ago
Hello,
I am able to run and test kitti2bag by following instructions from here ( thanks to Magic-wei )and am able to get the bag file as expected.
But I am looking to test kitti2bag from the source code. Since i would like to modify the some part of code in kitti2bag.py
def save_gps_vel_data(bag, kitti, gps_frame_id, topic): for timestamp, oxts in zip(kitti.timestamps, kitti.oxts): twist_msg = TwistStamped() twist_msg.header.frame_id = gps_frame_id twist_msg.header.stamp = rospy.Time.from_sec(float(timestamp.strftime("%s.%f"))) Velocity to be published in Vehicle body coordinate, InsteaHello, def save_gps_vel_data(bag, kitti, gps_frame_id, topic): for timestamp, oxts in zip(kitti.timestamps, kitti.oxts): twist_msg = TwistStamped() twist_msg.header.frame_id = gps_frame_id twist_msg.header.stamp = rospy.Time.from_sec(float(timestamp.strftime("%s.%f"))) //Here Velocity to be published in Vehicle body coordinate, Instead of FLU coordinate (vn ve vu instead of vf vl vu) twist_msg.twist.linear.x = oxts.packet.vf twist_msg.twist.linear.y = oxts.packet.vl twist_msg.twist.linear.z = oxts.packet.vu twist_msg.twist.angular.x = oxts.packet.wf twist_msg.twist.angular.y = oxts.packet.wl twist_msg.twist.angular.z = oxts.packet.wu bag.write(topic, twist_msg, t=twist_msg.header.stamp)
Any help much appreciated.
Regards, Ajay
Hello,
I am able to run and test kitti2bag by following instructions from here ( thanks to Magic-wei )and am able to get the bag file as expected.
But I am looking to test kitti2bag from the source code. Since i would like to modify the some part of code in kitti2bag.py
Any help much appreciated.
Regards, Ajay