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[ Knowledge Base : Sensor Data Collection (a.k.a. Rosbagging) Tutorial ]

Created by [ Rowan Dempster] on Dec 28, 2019

So you want to take Bolty for a manual drive, this is how you record the drive into a rosbag so that we can replay the drive without pipeline running offline later.

Starting from the equivalent of a reboot.

  1. source ~/integration/devel/setup.sh
  2. cameras_start, lidar_start, novatel_start at the same time (defined in ~/.watoalias)
  3. mkdir -p /mnt/sdb/<first3lettersofmonth><day>, this creates a folder like jan27 under the 1TB ssd root (/mnt/sdb)
  4. cd /mnt/sdb/<first3lettersofmonth><day>, this lets you save the next step's rosbag in the folder. If you don't do this, you probably are going to recording the rosbag on the hard drive and will run out of space during the recording. There is a way to recover the .bag.active file (buffer) to a proper .bag file, best to first save a copy of the .bag.active file to the ssd before attempting the recovery.
  5. rosbag record -a to record all topics (3.5GB/30s) or rosbag_record_5 to record only the 5 main topics (defined in ~/.watoalias, 1GB/30s)
  6. When done recording, Ctrl-C the rosbag record -a process, this will save the file with a name representing the current timestamp
  7. Rename the rosbag to be something more descriptive than timestamp (we can always rosbag info rosbag_filename to get the timestamp back)

Rosbagging in bad lighting conditions

This affects our cameras mainly. You can play around with the shutter speed parameter in the camera driver launch file (currently at /home/autodrive/integration/src/pointgrey_camera_driver/pointgrey_camera_driver/launch/stereo.launch).

For more information about how to use the rosbag tool, see the tutorial here: http://wiki.ros.org/rosbag/Tutorials/Recording%20and%20playing%20back%20data

Document generated by Confluence on Nov 19, 2021 12:20

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