Bag Utility

A ROS bag utility package to continuously bag and save ROS messages to easily collect large datasets for ML applications.

Getting Started

1. Configure topics in bag_utility/params/params.yaml
2. Launch

   roslaunch bag_utility save_bags.launch
   
   # Optional params
   - name:="filename_postfix"
   - path:="/path/to/save/bags"

♦ Viewing Bagged Data

Info: We have created a specific RVIZ configuration to view all four VLC camera streams nicely.

1. From a terminal open the saved RVIZ config file. Run the following command from the hri_cacti_xr/bags directory.

   rviz -d .image-viewer.rviz

2. From another terminal play the bag data. The four mono cameras from the HoloLens will be viewed.

Write to Files

Info: for both bag and/or reatime data

• Write video streams to .avi video files.
  1. Run launch files from image_writer. See the repo for instructions.
  2. Play bags sequentially.

      # change directory into bags
      cd hri_cacti_xr/bags
     
      # play continuously
      ./.play-data.sh [DIRECTORY_TO_BAGS]