To-process.bag

to process .bag (ROS Bag file)

My Development Environment

Info
Using device	RealSense(D455), Multipleye
Operating System & Version	Ubuntu 20.04
Platform	PC
SDK Version	2.0
Language	Python

Q. What is "ROS Bag file"?

A. "ROS Bag file" contain all data of each stream type(Color, Depth, Infrared)

Q. What does this program process(handle)?

A. ROS Bag file extracts depth and information of detected objects, PointCloud, Color, etc..

I. Install Library

ROS 1

noetic

1. Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Set up your keys

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. Installation

First, make sure your Debian package index is up-to-date:

sudo apt update

Now pick how much of ROS you would like to install.

Desktop-Full Install: (Recommended) : Everything in Desktop plus 2D/3D simulators and 2D/3D perception packages

sudo apt install ros-noetic-desktop-full

Desktop Install: Everything in ROS-Base plus tools like rqt and rviz

sudo apt install ros-noetic-desktop

ROS-Base: (Bare Bones) ROS packaging, build, and communication libraries. No GUI tools.

sudo apt install ros-noetic-ros-base

more packages available in ROS, to find packages

apt search ros-noetic

and install (PACKAGE => e.g. slam-gmapping)

sudo apt install ros-noetic-PACKAGE

4. Environment setup

source /opt/ros/noetic/setup.bash(.zsh, ...)

bash

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

zsh

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

5. Dependencies for building packages

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

sudo apt-get install python3-roslaunch 

sudo apt-get install python3-rosbag 

ROS 2

rolling

1. Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

2. Add the ROS 2 apt repository

sudo apt install software-properties-common

sudo add-apt-repository universe

sudo apt update && sudo apt install curl gnupg lsb-release

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. Downloading ROS 2

sudo apt update && sudo apt upgrade

sudo apt install ros-rolling-desktop

sudo apt install ros-rolling-ros-base

Rviz - Ros1

noetic

1. Install

sudo apt-get install ros-fuerte-visualization

sudo apt-get install ros-noetic-rviz

2. Display

source /opt/ros/noetic/setup.bash(.zsh ..)
roscore &

rosrun rviz rviz

Rviz - Ros2

foxy

1. Build from Source

sudo apt install ros-foxy-ros-base

sudo apt install ros-foxy-desktop

source /opt/ros/foxy/setup.bash(.zsh)

sudo apt-get install ros-foxy-rviz-visual-tools

ros2 launch rviz_visual_tools demo_rviz.launch.py

rosdep install --from-paths src --ignore-src --rosdistro foxy

2. Quick Start Demo

ros2 run rviz_visual_tools

Bagpy

pip3 install -U bagpy

Pyrealsense2

pip3 install pyrealsense2

II. Rviz

rosrun rosbag record -O ~~~.bag /velodyne_packets

rosbag play ~~~.bag

III. Bagpy in Python3

import bagpy
from bagpy import bagreader
import pandas as pd
import numpy as np

b = bagreader('[DATA Location]') # load bag file

b.topic_table

data = b.message_by_topic('[Title in table]')

df_out = pd.read_csv(data)
df_out

IV. Rosbag API in python3

import rosbag
from std_msgs.msg import Int32, String

bag = rosbag.Bag('[DATA Location]') # load bag file

'''
Use Method
'''

bag.close # free bag

VI. Point Cloud

Console-1

roscore &

Console-2

rosbag play --clock [Data] -l

[Data] : ex_1.bag, ex_2.bag ...

Option
(--clock) : To displaytime
(-l) : endless repetition

Console-1

rostopic echo /device_0/sensor_0/Depth_0/image/data

SLAM

SLAM is still being written.

My Device in ROS info

Multipleye RealSense

Reference

https://dev.intelrealsense.com/docs/python2
https://dev.intelrealsense.com/docs/ros-wrapper
https://dev.intelrealsense.com/docs/opencv-wrapper
http://wiki.ros.org/rosbag/Code%20API#Python_API
http://wiki.ros.org/rosbag/Commandline
https://jmscslgroup.github.io/bagpy/index.html
https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Development-Setup.html
https://index.ros.org/p/rviz_visual_tools/
https://index.ros.org/p/example_interfaces/#humble-overview
https://velog.io/@717lumos/Rviz-Rviz-%EC%8B%9C%EA%B0%81%ED%99%94%ED%95%98%EA%B8%B0-Marker