From: Henrique Scharlau Coelho Date: Fri, 29 Dec 2023 19:40:26 +0000 (-0300) Subject: added bag record script and bag playback launch X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=d5abc890b5c2076dd3c26abfa4406e16f0c86ef6;p=twil.git added bag record script and bag playback launch --- diff --git a/twil_2dnav/config/bag.rviz b/twil_2dnav/config/bag.rviz new file mode 100644 index 0000000..d968437 --- /dev/null +++ b/twil_2dnav/config/bag.rviz @@ -0,0 +1,382 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 305 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odom + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odom + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Ground_truth + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 0; 255; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /ground_truth + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/depth/image_scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera depth + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/depth/image_raw + Value: false + Visibility: + Camera color: true + Grid: true + Ground_truth: true + Image color: true + LaserScan: true + Odom: true + PointCloud2: true + RobotModel: true + TF: true + Value: true + Zoom Factor: 1 + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera color + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/color/image_raw + Value: false + Visibility: + Camera depth: true + Grid: true + Ground_truth: true + Image color: true + LaserScan: true + Odom: true + PointCloud2: true + RobotModel: true + TF: true + Value: true + Zoom Factor: 1 + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image color + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/color/image_raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 35 + Target Frame: twil_origin + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Camera color: + collapsed: false + Camera depth: + collapsed: false + Displays: + collapsed: false + Height: 999 + Hide Left Dock: false + Hide Right Dock: false + Image color: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1908 + X: 0 + Y: 0 diff --git a/twil_2dnav/launch/bag_playback.launch.xml b/twil_2dnav/launch/bag_playback.launch.xml new file mode 100644 index 0000000..8aaa854 --- /dev/null +++ b/twil_2dnav/launch/bag_playback.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/twil_2dnav/scripts/qos_overrides.yaml b/twil_2dnav/scripts/qos_overrides.yaml new file mode 100644 index 0000000..c0ae665 --- /dev/null +++ b/twil_2dnav/scripts/qos_overrides.yaml @@ -0,0 +1,3 @@ +/tf: + durability: volatile + history: keep_all \ No newline at end of file diff --git a/twil_2dnav/scripts/record_bag.sh b/twil_2dnav/scripts/record_bag.sh new file mode 100755 index 0000000..042af41 --- /dev/null +++ b/twil_2dnav/scripts/record_bag.sh @@ -0,0 +1,20 @@ +#!/bin/bash + +# Check if the number of arguments is correct +if [ $# -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi + +# Assign the argument to the output filename +output_bag_filename=$1 + +# Define the local variable with the desired topic names +camera_topics="/camera/depth/image_scan /camera/depth/camera_info /camera/depth/points /camera/depth/image_raw /camera/color/camera_info /camera/color/image_raw" +robot_description_topics="/clock /tf /tf_static /robot_description /ground_truth" +sensor_topics="/odom /sensor/imu /fake_odom /twist_mrac_controller/odom" + +qos_overrides_file="qos_overrides.yaml" + +# Execute the rosbag command with proper formatting +ros2 bag record -o "$output_bag_filename" --qos-profile-overrides-path $qos_overrides_file $robot_description_topics $camera_topics $sensor_topics