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fix(deviation_estimation_tools): added a neccesary topic name in readme #9

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Jul 9, 2022
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fix(deviation_estimation_tools): added a neccesary topic name in readme #9

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fix(deviation_estimation_tools): added a neccesary topic name in readme
kminoda Jul 8, 2022
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Merge branch 'tier4/universe' into fix/deviation_estimation_tools_readme
kminoda Jul 8, 2022
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fix(deviation_estimation_tools): added a neccesary topic name in readme 
Signed-off-by: kminoda <koji.m.minoda@gmail.com>
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@kminoda
kminoda committed Jul 8, 2022
commit a93d2288818f7d086e57094388084ccf09264e8f
23 changes: 13 additions & 10 deletions localization/deviation_estimation_tools/ReadMe.md
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Expand Up @@ -30,6 +30,7 @@ If your are using rosbag, it should contain the following topics:
- /localization/pose_estimator/pose_with_covariance
- /clock
- /tf_static (that contains transform from `base_link` to `imu_link`)
- (/localization/twist_estimator/twist_with_covariance: required in the next step)
- (/localization/pose_twist_fusion_filter/kinematic_state: required in the next step)

Play the rosbag in a different terminal:
Expand All @@ -43,17 +44,19 @@ ros2 bag play YOUR_BAG # You can also play in a faster rate, e.g. -r 5

```sh
Files: localized_not_calibrated_0.db3
Bag size: 11.1 MiB
Bag size: 9.6 MiB
Storage id: sqlite3
Duration: 151.303s
Start: Apr 20 2022 20:49:10.440 (1650455350.440)
End: Apr 20 2022 20:51:41.744 (1650455501.744)
Messages: 53400
Topic information: Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 9806 | Serialization Format: cdr
Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 30260 | Serialization Format: cdr
Topic: /localization/twist_estimator/twist_with_covariance | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 4281 | Serialization Format: cdr
Topic: /localization/pose_estimator/pose_with_covariance | Type: geometry_msgs/msg/PoseWithCovarianceStamped | Count: 1484 | Serialization Format: cdr
Topic: /localization/pose_twist_fusion_filter/kinematic_state | Type: nav_msgs/msg/Odometry | Count: 7565 | Serialization Format: cdr
Duration: 76.539s
Start: Jul 8 2022 11:21:41.220 (1657246901.220)
End: Jul 8 2022 11:22:57.759 (1657246977.759)
Messages: 32855
Topic information: Topic: /localization/twist_estimator/twist_with_covariance_raw | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 2139 | Serialization Format: cdr
Topic: /localization/kinematic_state | Type: nav_msgs/msg/Odometry | Count: 3792 | Serialization Format: cdr
Topic: /localization/twist_estimator/twist_with_covariance | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 2139 | Serialization Format: cdr
Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 15308 | Serialization Format: cdr
Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 4950 | Serialization Format: cdr
Topic: /localization/pose_twist_fusion_filter/kinematic_state | Type: nav_msgs/msg/Odometry | Count: 3792 | Serialization Format: cdr
Topic: /localization/pose_estimator/pose_with_covariance | Type: geometry_msgs/msg/PoseWithCovarianceStamped | Count: 731 | Serialization Format: cdr
Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 4 | Serialization Format: cdr

```
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