MultiSense SL Example Data Files

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Compressed bag files from the Multisense-SL can be downloaded from the following URL:

https://carnegierobotics.box.com/s/5jlbkfmlpaq80yevyr1y

Additional data files will be posted to this topic as they become available.

 

Processing and Viewing Bag Files: 

To begin processing bag files install ROS Fuerte. Installation instructions can be found in the Multisense ROS driver documentation (https://carnegierobotics.zendesk.com/entries/24769377-MultiSense-SL-ROS-Driver-Documentation) or at http://www.ros.org/wiki/fuerte/Installation/Ubuntu.

After downloading the bag files execute the following commands in the directory where the bag files are located:

 

source /opt/ros/fuerte/setup.bash

rosbag decompress <bag_file_name>

 

This will decompress the bag files so that they can processed by ROS.

 

To play the bag files back on the system first open a separate terminal and execute:

 

source /opt/ros/fuerte/setup.bash

roscore

 

Next open a new terminal and change directories to the location of the decompressed bag files. Executing the following command will play the data in a bag file in a loop.

 

source /opt/ros/fuerte/setup.bash

rosbag play -l <decompressed_bag_file_name>

 

For more options on replaying bag files execute:

 

source /opt/ros/fuerte/setup.bash

rosbag play -h

 

To view all the topics being published from the bag file execute the following in a separate terminal:

 

source /opt/ros/fuerte/setup.bash

rostopic list

 

To visualize the data in the ROS Rviz visualization program execute the following in a separate terminal:

 

source /opt/ros/fuerte/setup.bash

rosrun rviz rviz

 

Download the following rviz_config.vcg configuration file https://bitbucket.org/crl/multisense_ros/src/cf50a01d88f8ef67589bcde2f5694a437bb55b62/multisense_bringup?at=default and open it in Rviz by navigating to File->Open Config and selecting the downloaded rviz_config.vcg.

 

  

To extract specific data from the bag file without using rosbag play please see the rosbag API (http://www.ros.org/wiki/rosbag/Code%20API)

 

 

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