Compressed bag files from the Multisense-SL can be downloaded from the following URL:
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:
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:
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.
rosbag play -l <decompressed_bag_file_name>
For more options on replaying bag files execute:
rosbag play -h
To view all the topics being published from the bag file execute the following in a separate terminal:
To visualize the data in the ROS Rviz visualization program execute the following in a separate terminal:
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)