Short Update:
I wrote a little tool for writing the laser scans of CARMEN logfiles to ROS .bag files, will likely publish that one at a later date when it is a little more polished (and for example also writes odometry, which I don't need at the moment).

2011/1/7 Stefan Kohlbrecher <stefan.kohlbrecher@googlemail.com>
Hi everyone,

Are there any news concerning this topic? I'm very interested in a converter that generates .bag files from CARMEN or Player format logfiles, so logs from the radish repository can directly be fed into ROSified SLAM approaches for testing and comparison.

regards,
Stefan 

2010/11/7 shahmi <alfarobi0161@yahoo.com>

Thanks a lot Ken for this clear guide.

-Shahmi-

--- On Sun, 11/7/10, Ken Conley <kwc@willowgarage.com> wrote:

From: Ken Conley <kwc@willowgarage.com>

Subject: Re: [ros-users] Converting Logfile into Carmen Format
To: "User discussions" <ros-users@code.ros.org>
Date: Sunday, November 7, 2010, 5:36 PM


This is the old package that used to do this:


It is based on much older APIs in ROS (pre 1.0), which is why it is in the graveyard. 

It should fairly simple to write your own program using the rosbag API [1] and use logsetta's CARMEN code [2] as a guide to the format.

HTH,
Ken

[2]: https://code.ros.org/svn/wg-ros-pkg/graveyard/logsetta/carmen/carmen_logger/carmen_logger.cpp

On Sat, Nov 6, 2010 at 2:19 PM, shahmi <alfarobi0161@yahoo.com> wrote:
Thanks a lot Jeremi. Hopefully, you can point me to the old tool once you got it from the repository and i am waiting for that..

-Shahmi-


--- On Sat, 11/6/10, Jeremy Leibs <leibs@willowgarage.com> wrote:

From: Jeremy Leibs <leibs@willowgarage.com>
Subject: Re: [ros-users] Converting Logfile into Carmen Format
To: "User discussions" <ros-users@code.ros.org>
Date: Saturday, November 6, 2010, 8:17 PM


Yes.  Someone with adequate knowledge of the carmen format should be able to write a converter using the rosbag tools.  This tool was written once a couple years ago but was not maintained or used and I think it was removed from the repository recently.  Once I find it in the repository, I can point you to the old tool -- it would still need to be upgraded to work with the new rosbag toolchain.

On Sat, Nov 6, 2010 at 12:46 AM, shahmi <alfarobi0161@yahoo.com> wrote:
I am not so sure if I got it right or not regarding using rosbag that you've suggested. I think with this tool, it is just acting as a middle man to understand the data. However, what i'm searching for is actually a tool to convert the data into solid carmen format, if possible.

Any idea is highly appreciated.

-Shahmi- 


--- On Fri, 11/5/10, Jeremy Leibs <leibs@willowgarage.com> wrote:

From: Jeremy Leibs <leibs@willowgarage.com>
Subject: Re: [ros-users] Converting Logfile into Carmen Format

To: "User discussions" <ros-users@code.ros.org>
Date: Friday, November 5, 2010, 8:07 PM


It should be very straight-forward to write a converter using the rosbag programmatic API.  I would recommend using python.


On Fri, Nov 5, 2010 at 11:58 AM, shahmi <alfarobi0161@yahoo.com> wrote:
To be more precise, the data which to be converted is something like this (some parts of it):

147334
-53.2932 0.576133 62.2849 -2.63333 0 8191 0.706858 9.41397
-53.8346 0.581987 61.8183 -2.63333 0 8191 0.715585 9.41397
-54.372 0.587796 61.347 -2.63333 0 8191 0.724312 9.41397
-54.9053 0.593561 60.871 -2.63333 0 8191 0.733038 9.41397
-55.4344 0.599281 60.3904 -2.63333 0 8191 0.741765 9.41397
-55.9592 0.604955 59.9052 -2.63333 0 8191 0.750492 9.41397
-56.4798 0.610583 59.4154 -2.63333 0 8191 0.759218 9.41397
-56.9961 0.616164 58.9211 -2.63333 0 8191 0.767945 9.41397
-57.5081 0.621699 58.4223 -2.63333 0 8191 0.776672 9.41397
-58.0157 0.627187 57.9191 -2.63333 0 8191 0.785398 9.41397
-58.5189 0.632627 57.4115 -2.63333 0 8191 0.794125 9.41397
-59.0177 0.638019 56.8995 -2.63333 0 8191 0.802851 9.41397
-59.5119 0.643362 56.3831 -2.63333 0 8191 0.811578 9.41397
-60.0017 0.648656 55.8625 -2.63333 0 8191 0.820305 9.41397
-60.4869 0.653901 55.3376 -2.63333 0 8191 0.829031 9.41397
-60.9674 0.659097 54.8085 -2.63333 0 8191 0.837758 9.41397
-61.4434 0.664242 54.2752 -2.63333 0 8191 0.846485 9.41397
-61.9146 0.669337 53.7378 -2.63333 0 8191 0.855211 9.41397
-62.3812 0.67438 53.1963 -2.63333 0 8191 0.863938 9.41397



Thanks..


-Shahmi-

---On Fri, 11/5/10, shahmi <alfarobi0161@yahoo.com> wrote:

From: shahmi <alfarobi0161@yahoo.com>
Subject: [ros-users] Converting Logfile into Carmen Format
To: "User discussions" <ros-users@code.ros.org>
Date: Friday, November 5, 2010, 7:51 PM


Hi,

Anybody knows how to convert log file data  into carmen format.  The log file is from laser scanning.

Thanks in advance.

Regards,
Shahmi


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