Visualization with using rosbag
abdullahenesdoruk opened this issue · 14 comments
Hi, how can i visualize with using rosbag file.
eagleye_rt outputs the position of the navsatfix msg /eageye/fix (lat,lon), the position of the custom message /eagleye/enu_absolute_pos_interpolate and the heading angle eagleye/heading_interpolate_3rd.
The package fix2pose in eaglye_util (https://github.com/MapIV/eagleye/tree/master/eagleye_util/fix2pose) publishes geometry_msgs::PoseStamped type message and output tf using these.
So, please run this together
Hi, i ran bag file and eagle_rt launch, after that rosrun fix2kml for visualization. And created kml file. How can i use this file. According to my research, i open google earth and import kml file, is right? Finally, can i visualize like youtube video, if this is possible, how can i do?
According to my research, i open google earth and import kml file, is right?
Right.
Finally, can i visualize like youtube video, if this is possible, how can i do?
To do this demo, you need to use autoware (https://github.com/Autoware-AI/autoware.ai).
By starting up autoware's localization, we output pose by lidar localizar, pcd, and vectormap , pose by eagleye_rt(using fix2pose), and visualize them by rviz .
Data to be used
ROSBAG
https://www.dropbox.com/sh/ks5kg8033f5n3w8/AADv9plEjXnwlxex23Z91kR_a?dl=0
https://www.dropbox.com/sh/mhdib1m1oivotiu/AAD0UnANDsuIsKqcSKHt9WAJa?dl=0
PCD and Vector Map
https://drive.google.com/file/d/1Uwp9vwvcZwaoZi4kdjJaY55-LEXIzSxf/view
I understood, thanks.
According to my research, i open google earth and import kml file, is right?
Right.
Finally, can i visualize like youtube video, if this is possible, how can i do?
To do this demo, you need to use autoware (https://github.com/Autoware-AI/autoware.ai). By starting up autoware's localization, we output pose by lidar localizar, pcd, and vectormap , pose by eagleye_rt(using fix2pose), and visualize them by rviz .
Data to be used ROSBAG https://www.dropbox.com/sh/ks5kg8033f5n3w8/AADv9plEjXnwlxex23Z91kR_a?dl=0 https://www.dropbox.com/sh/mhdib1m1oivotiu/AAD0UnANDsuIsKqcSKHt9WAJa?dl=0 PCD and Vector Map https://drive.google.com/file/d/1Uwp9vwvcZwaoZi4kdjJaY55-LEXIzSxf/view
there is no imu or can_twist data in this bag file
You cannot run eagleye with the sample data of autoware ai(sample_moriyama_....bag)..
Please run autoware ai's localizer and eagleye with eagleye's sample data.
the sample data of eagelye
https://www.dropbox.com/sh/ks5kg8033f5n3w8/AADv9plEjXnwlxex23Z91kR_a?dl=0
https://www.dropbox.com/sh/mhdib1m1oivotiu/AAD0UnANDsuIsKqcSKHt9WAJa?dl=0
i got it, downloaded eagle_sample.bag, pcd and vector map.
i select all pcd files for map, csv files for vector map and tf launch file and run it.
and load bag file
and i select eagle_rt.launch file for localization and load.
finally, i open rviz and start bag file
doesnt work. are these steps correct or not?
You cannot run eagleye with the sample data of autoware ai(sample_moriyama_....bag).. Please run autoware ai's localizer and eagleye with eagleye's sample data.
the sample data of eagelye https://www.dropbox.com/sh/ks5kg8033f5n3w8/AADv9plEjXnwlxex23Z91kR_a?dl=0 https://www.dropbox.com/sh/mhdib1m1oivotiu/AAD0UnANDsuIsKqcSKHt9WAJa?dl=0
can you explain? i dont understand.
Please run eagleye_rt.launch in a terminal.
Also, please run fix2poze.launch with it.
And if you add eagleye's pose in the rviz 「add topic」, you can visualize it.
Sorry for the delay, but I will respond.
You do not need to use lidar localizer.
As for frame selection, my memory is dim, so you can try either one.
Since fix2pose sends tf, I think you can check and debug it.
https://github.com/MapIV/eagleye/blob/master/eagleye_util/fix2pose/src/fix2pose.cpp#L131
This issue is closed for now. If you have problems again, please reopen this issue.