jotix16 / ROS_Noisifier

GUI application to add measurement noise on given odom, imu measurement trajectories

ROS_noisifier

Warning

Bag1, Bag2, Bag3 are meaningless. They were hardcoded for ease of work and can be changed in gui/main.py In my case they looked like this:

PATHS = [
    "test1.bag",
    "test2.bag",
    "test3.bag"
]

GUI create several noised paths from one path(i.e. add noise to odom topics)

git clone https://gitlab.iavgroup.local/mzhobro/ros_noisifier.git
cd ros_noisifier
# run with
python gui/main.py

Firstly choose the bag, nr of noised paths and topic you want to noisify:

Than dynamically add noise to the paths

This is a demonstration of how to use PyQt with ROS

Dependencies

Make sure to have the following installed

• PyQt 5
• PyQt 5 Designer
• PyQt 5 dev tools

Editing the layout

To edit the interface, open layout.ui in for example Qt 5 Designer:

/usr/lib/x86_64-linux-gnu/qt5/bin/designer layout.ui

Once all the changes are saved, run the following command

pyuic5 -x layout.ui -o layout.py

This will auto-generate all interface elements in Python code. The class it creates, Ui_MainWindow , is then imported and inherited by the main class in main.py

Launching the code

Simply run main.py. All the logic happens in that file.

python main.py