- For parsing create a folder
recorded-data
andbagfiles
folder in the root. - Place all the .bag(rosbag) files in
bagfiles
directory. - Run parse_runner.py
- All recorded file will be inside
recorded-data
floder. - output of ApplyTranformation is of the following format.
{
'stacked_images': "stacked images here",
'point_cloud': "point clouds will be here",
# local_goal is a tuple of following form
# x, y is in robot frame
'local_goal': (x, y),
# prev cmd velocities is an array of tuples of lenght 20
'prev_cmd_vel': [(linear.x, angular.z)],
#ground truth cmd vel is a tuple in following form
'gt_cmd_vel': (linear.x, angular.z)
}