https://github.com/rpng/turtlebot_parser
Will generate matlab MAT files from rosbags. Made for use with turtlebot rosbags.
https://github.com/rpng/turtlebot_parser
apriltags converter dataset matlab ros turtlebot
Last synced: 2 months ago
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Will generate matlab MAT files from rosbags. Made for use with turtlebot rosbags.
- Host: GitHub
- URL: https://github.com/rpng/turtlebot_parser
- Owner: rpng
- Created: 2017-04-16T03:25:24.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-04-16T03:59:24.000Z (over 8 years ago)
- Last Synced: 2025-03-12T09:43:35.366Z (7 months ago)
- Topics: apriltags, converter, dataset, matlab, ros, turtlebot
- Language: CMake
- Size: 11.7 KB
- Stars: 0
- Watchers: 10
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: Readme.md
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README
# turtlebot_parser
This package allows for easy converting of rosbags into a matlab format.
This allows for quick development times in matlab instead of directly implementing everything in c++.
To use this, ensure that all dependencies are installed (see package.xml).
One of the other key packages that this uses is the [apriltags_ros](https://github.com/RIVeR-Lab/apriltags_ros) package.
This has custom headers, so make sure it is clones and built in your workspace.
## matlab file format
* **data_april**
* timestamp (seconds)
* apriltag id
* apriltag size (meters?)
* x,y,z,w quaternion orientation
* x,y,z 3d position of tag (meters)
* **data_imu**
* timestamp (seconds)
* x,y,z linear acceleration (m/s^2)
* x,y,z angular velocity (rad/s)
* **data_odom**
* timestamp (seconds)
* x,y,z,w quaternion orientation
* x,y,z position of robot (meters)
* x,y,z linear acceleration (m/s^2)
* x,y,z angular velocity (rad/s)
* **data_vicon**
* timestamp (seconds)
* x,y,z,w quaternion orientation
* x,y,z position of robot (meters)