[ros-users] Converting Logfile into Carmen Format

shahmi alfarobi0161 at yahoo.com
Sun Nov 7 19:23:14 UTC 2010


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> 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> wrote:



From: Jeremy Leibs <leibs at willowgarage.com>
Subject: Re: [ros-users] Converting Logfile into Carmen Format
To: "User discussions" <ros-users at 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> 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> wrote:





From: Jeremy Leibs <leibs at willowgarage.com>




Subject: Re: [ros-users] Converting Logfile into Carmen Format
To: "User discussions" <ros-users at 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> 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> wrote:







From: shahmi <alfarobi0161 at yahoo.com>
Subject: [ros-users] Converting Logfile into Carmen Format
To: "User discussions" <ros-users at 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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