Short Update:<div>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).<br>
<div><br><div class="gmail_quote">2011/1/7 Stefan Kohlbrecher <span dir="ltr"><<a href="mailto:stefan.kohlbrecher@googlemail.com">stefan.kohlbrecher@googlemail.com</a>></span><br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi everyone,<div><br></div><div>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.</div>
<div><br></div><div>regards,</div><div>Stefan <br><br><div class="gmail_quote">2010/11/7 shahmi <span dir="ltr"><<a href="mailto:alfarobi0161@yahoo.com" target="_blank">alfarobi0161@yahoo.com</a>></span><div><div></div>
<div class="h5"><br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<table cellspacing="0" cellpadding="0" border="0"><tbody><tr><td valign="top" style="font:inherit">Thanks a lot Ken for this clear guide.<br><br>-Shahmi-<br><br>--- On <b>Sun, 11/7/10, Ken Conley <i><<a href="mailto:kwc@willowgarage.com" target="_blank">kwc@willowgarage.com</a>></i></b> wrote:<br>
<blockquote style="border-left:2px solid rgb(16, 16, 255);margin-left:5px;padding-left:5px"><br>From: Ken Conley <<a href="mailto:kwc@willowgarage.com" target="_blank">kwc@willowgarage.com</a>><div><br>Subject: Re: [ros-users] Converting Logfile into Carmen Format<br>
To: "User discussions" <<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a>><br></div>Date: Sunday, November 7, 2010, 5:36 PM<div><div></div><div><br><br><div>This is the old package that used to do this:<div>
<br></div><div><a rel="nofollow" href="https://code.ros.org/svn/wg-ros-pkg/graveyard/logsetta/" target="_blank">https://code.ros.org/svn/wg-ros-pkg/graveyard/logsetta/</a></div><div><br></div><div>It is based on much older APIs in ROS (pre 1.0), which is why it is in the graveyard. </div>
<div><br></div><div>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.</div><div><br></div><div>HTH,</div><div>Ken</div><div><br></div>
<div>[1]: <a rel="nofollow" href="http://www.ros.org/doc/api/rosbag/html/c++/" target="_blank">http://www.ros.org/doc/api/rosbag/html/c++/</a></div><div>[2]: <a rel="nofollow" href="https://code.ros.org/svn/wg-ros-pkg/graveyard/logsetta/carmen/carmen_logger/carmen_logger.cpp" target="_blank">https://code.ros.org/svn/wg-ros-pkg/graveyard/logsetta/carmen/carmen_logger/carmen_logger.cpp</a><br>
<br><div>On Sat, Nov 6, 2010 at 2:19 PM, shahmi <span dir="ltr"><<a rel="nofollow" href="http://mc/compose?to=alfarobi0161@yahoo.com" target="_blank">alfarobi0161@yahoo.com</a>></span> wrote:<br><blockquote style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
<table border="0" cellpadding="0" cellspacing="0"><tbody><tr><td style="font:inherit" valign="top">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..<br>
<br>-Shahmi-<div><br><br>--- On <b>Sat, 11/6/10, Jeremy Leibs <i><<a rel="nofollow" href="http://mc/compose?to=leibs@willowgarage.com" target="_blank">leibs@willowgarage.com</a>></i></b> wrote:<br></div><blockquote style="border-left:2px solid rgb(16, 16, 255);margin-left:5px;padding-left:5px">
<div><br>From: Jeremy Leibs <<a rel="nofollow" href="http://mc/compose?to=leibs@willowgarage.com" target="_blank">leibs@willowgarage.com</a>><br>Subject: Re: [ros-users] Converting Logfile into Carmen Format<br>To: "User discussions" <<a rel="nofollow" href="http://mc/compose?to=ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a>><br>
</div>Date: Saturday, November 6, 2010, 8:17 PM<div><div></div><div><br><br><div>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.<br>
<br><div>On Sat, Nov 6, 2010 at 12:46 AM, shahmi <span dir="ltr"><<a rel="nofollow" href="http://mc/compose?to=alfarobi0161@yahoo.com" target="_blank">alfarobi0161@yahoo.com</a>></span> wrote:<br><blockquote style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
<table border="0" cellpadding="0" cellspacing="0"><tbody><tr><td style="font:inherit" valign="top">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.<br>
<br>Any idea is highly appreciated.<br><br>-Shahmi- <br><br><div><br>--- On <b>Fri, 11/5/10, Jeremy Leibs <i><<a rel="nofollow" href="http://mc/compose?to=leibs@willowgarage.com" target="_blank">leibs@willowgarage.com</a>></i></b> wrote:<br>
</div><blockquote style="border-left:2px solid rgb(16, 16, 255);margin-left:5px;padding-left:5px"><div><br>From: Jeremy Leibs <<a rel="nofollow" href="http://mc/compose?to=leibs@willowgarage.com" target="_blank">leibs@willowgarage.com</a>><br>
</div>Subject: Re: [ros-users] Converting Logfile into Carmen Format<div><br>To: "User discussions" <<a rel="nofollow" href="http://mc/compose?to=ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a>><br>
</div>
Date: Friday, November 5, 2010, 8:07 PM<div><div></div><div><br><br><div>It should be very straight-forward to write a converter using the rosbag
programmatic API. I would recommend using python.<div><br></div><div>Look at: <a rel="nofollow" href="http://www.ros.org/wiki/rosbag/Code%20API" target="_blank">http://www.ros.org/wiki/rosbag/Code%20API</a></div>
<div><br><div>On Fri, Nov 5, 2010 at 11:58 AM, shahmi <span dir="ltr"><<a rel="nofollow" href="http://mc/compose?to=alfarobi0161@yahoo.com" target="_blank">alfarobi0161@yahoo.com</a>></span> wrote:<br><blockquote style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
<table border="0" cellpadding="0" cellspacing="0"><tbody><tr><td style="font:inherit" valign="top">To be more precise, the data which to be converted is something like this (some parts of it):<br><br>147334<br>-53.2932 0.576133 62.2849 -2.63333 0 8191 0.706858 9.41397<br>
-53.8346 0.581987 61.8183 -2.63333 0 8191 0.715585 9.41397<br>-54.372 0.587796 61.347 -2.63333 0 8191 0.724312 9.41397<br>-54.9053 0.593561 60.871 -2.63333 0 8191 0.733038 9.41397<br>-55.4344 0.599281 60.3904 -2.63333 0 8191 0.741765 9.41397<br>
-55.9592 0.604955 59.9052 -2.63333 0 8191 0.750492 9.41397<br>-56.4798 0.610583 59.4154 -2.63333 0 8191 0.759218 9.41397<br>-56.9961 0.616164 58.9211 -2.63333 0 8191 0.767945 9.41397<br>-57.5081 0.621699 58.4223 -2.63333 0 8191 0.776672 9.41397<br>
-58.0157 0.627187 57.9191 -2.63333 0 8191 0.785398 9.41397<br>-58.5189 0.632627 57.4115 -2.63333 0 8191 0.794125 9.41397<br>-59.0177 0.638019 56.8995 -2.63333 0 8191 0.802851 9.41397<br>-59.5119 0.643362
56.3831 -2.63333 0 8191 0.811578 9.41397<br>-60.0017 0.648656 55.8625 -2.63333 0 8191 0.820305 9.41397<br>-60.4869 0.653901 55.3376 -2.63333 0 8191 0.829031 9.41397<br>-60.9674 0.659097 54.8085 -2.63333 0 8191 0.837758 9.41397<br>
-61.4434 0.664242 54.2752 -2.63333 0 8191 0.846485 9.41397<br>-61.9146 0.669337 53.7378 -2.63333 0 8191 0.855211 9.41397<br>-62.3812 0.67438 53.1963 -2.63333 0 8191 0.863938 9.41397<br><br><br><br>Thanks..<br><br><br>-Shahmi-<br>
<br>---On <b>Fri, 11/5/10, shahmi <i><<a rel="nofollow" href="http://mc/compose?to=alfarobi0161@yahoo.com" target="_blank">alfarobi0161@yahoo.com</a>></i></b> wrote:<br><blockquote style="border-left:2px solid rgb(16, 16, 255);margin-left:5px;padding-left:5px">
<br>From: shahmi <<a rel="nofollow" href="http://mc/compose?to=alfarobi0161@yahoo.com" target="_blank">alfarobi0161@yahoo.com</a>><br>Subject: [ros-users] Converting Logfile into Carmen Format<br>To: "User discussions" <<a rel="nofollow" href="http://mc/compose?to=ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a>><br>
Date: Friday, November 5, 2010, 7:51 PM<div><div></div><div><br><br><div><table border="0" cellpadding="0" cellspacing="0"><tbody><tr><td style="font:inherit" valign="top">Hi,<br><br>Anybody knows how to convert log file data into carmen format. The log file is from laser scanning.<br>
<br>Thanks in advance.<br><br>Regards,<br>Shahmi</td></tr></tbody></table><br>
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