[ros-users] Converting Logfile into Carmen Format

Sat Jan 8 14:10:24 UTC 2011

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 at 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 at yahoo.com>
>
> Thanks a lot Ken for this clear guide.
>>
>> -Shahmi-
>>
>> --- On *Sun, 11/7/10, Ken Conley <kwc at willowgarage.com>* wrote:
>>
>>
>> From: Ken Conley <kwc at willowgarage.com>
>>
>> Subject: Re: [ros-users] Converting Logfile into Carmen Format
>> To: "User discussions" <ros-users at code.ros.org>
>> Date: Sunday, November 7, 2010, 5:36 PM
>>
>>
>> This is the old package that used to do this:
>>
>> https://code.ros.org/svn/wg-ros-pkg/graveyard/logsetta/
>>
>> 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
>>
>> [1]: http://www.ros.org/doc/api/rosbag/html/c++/
>> [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 at yahoo.com<http://mc/compose?to=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 at willowgarage.com<http://mc/compose?to=leibs@willowgarage.com>
>> >* wrote:
>>
>>
>> From: Jeremy Leibs <leibs at willowgarage.com<http://mc/compose?to=leibs@willowgarage.com>
>> >
>> Subject: Re: [ros-users] Converting Logfile into Carmen Format
>> To: "User discussions" <ros-users at code.ros.org<http://mc/compose?to=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 at yahoo.com<http://mc/compose?to=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 at willowgarage.com<http://mc/compose?to=leibs@willowgarage.com>
>> >* wrote:
>>
>>
>> From: Jeremy Leibs <leibs at willowgarage.com<http://mc/compose?to=leibs@willowgarage.com>
>> >
>> Subject: Re: [ros-users] Converting Logfile into Carmen Format
>>
>> To: "User discussions" <ros-users at code.ros.org<http://mc/compose?to=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.
>>
>> Look at: http://www.ros.org/wiki/rosbag/Code%20API
>>
>> On Fri, Nov 5, 2010 at 11:58 AM, shahmi <alfarobi0161 at yahoo.com<http://mc/compose?to=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 at yahoo.com<http://mc/compose?to=alfarobi0161@yahoo.com>
>> >* wrote:
>>
>>
>> From: shahmi <alfarobi0161 at yahoo.com<http://mc/compose?to=alfarobi0161@yahoo.com>
>> >
>> Subject: [ros-users] Converting Logfile into Carmen Format
>> To: "User discussions" <ros-users at code.ros.org<http://mc/compose?to=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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