Run from source code
ajay1606 opened this issue · comments
Ajay commented
Hello,
I am able to run and test kitti2bag by following instructions from here ( thanks to Magic-wei )and am able to get the bag file as expected.
But I am looking to test kitti2bag from the source code. Since i would like to modify the some part of code in kitti2bag.py
def save_gps_vel_data(bag, kitti, gps_frame_id, topic):
for timestamp, oxts in zip(kitti.timestamps, kitti.oxts):
twist_msg = TwistStamped()
twist_msg.header.frame_id = gps_frame_id
twist_msg.header.stamp = rospy.Time.from_sec(float(timestamp.strftime("%s.%f")))
Velocity to be published in Vehicle body coordinate, InsteaHello,
def save_gps_vel_data(bag, kitti, gps_frame_id, topic):
for timestamp, oxts in zip(kitti.timestamps, kitti.oxts):
twist_msg = TwistStamped()
twist_msg.header.frame_id = gps_frame_id
twist_msg.header.stamp = rospy.Time.from_sec(float(timestamp.strftime("%s.%f")))
//Here Velocity to be published in Vehicle body coordinate, Instead of FLU coordinate (vn ve vu instead of vf vl vu)
twist_msg.twist.linear.x = oxts.packet.vf
twist_msg.twist.linear.y = oxts.packet.vl
twist_msg.twist.linear.z = oxts.packet.vu
twist_msg.twist.angular.x = oxts.packet.wf
twist_msg.twist.angular.y = oxts.packet.wl
twist_msg.twist.angular.z = oxts.packet.wu
bag.write(topic, twist_msg, t=twist_msg.header.stamp)
Any help much appreciated.
Regards,
Ajay