kittito rosbag入坑教程

# 使用tmux分屏 # 開乙個terminal roscore #再開乙個terminal rosrun kittito_rosbag kitti_rosbag_converter calibration_path dataset_path output_path #cd 到資料路徑下 touch testbag.bag rosrun kitti_to_rosbag kitti_rosbag_converter ~/data/kitti/2011_09_26 ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync/testbag.bag

實際執行的2011_09_26_drive_0001，結果如下：

timestamps: 1317013345967791872 1317013357004624640 timestamps: 1317013345961661696 1317013356998492672 timestamps: 1317013345961178112 1317013356998005504

converted 108 entries into a rosbag.

檢視轉換後的rosbag.bag檔案資訊

rosbag info testbag.bag

結果如下：

path: testbag.bag version: 2.0 duration: 11.0s start: sep 26 2011 13:02:25.96 (1317013345.96) end: sep 26 2011 13:02:36.00 (1317013357.00) size: 786.5 mb messages: 1296 compression: none [432/432 chunks] types: geometrymsgs/posestamped [d3812c3cbc69362b77dc0b19b345f8f5] geometry_msgs/transformstamped [b5764a33bfeb3588febc2682852579b0] sensor_msgs/camerainfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/pointcloud2 [1158d486dd51d683ce2f1be655c3c181] tf/tfmessage [94810edda583a504dfda3829e70d7eec] topics: /tf 108 msgs : tf/tfmessage cam00/camera_info 108 msgs : sensor_msgs/camerainfo cam00/image_raw 108 msgs : sensor_msgs/image cam01/camera_info 108 msgs : sensor_msgs/camerainfo cam01/image_raw 108 msgs : sensor_msgs/image cam02/camera_info 108 msgs : sensor_msgs/camerainfo cam02/image_raw 108 msgs : sensor_msgs/image cam03/camera_info 108 msgs : sensor_msgs/camerainfo cam03/image_raw 108 msgs : sensor_msgs/image pose_imu 108 msgs : geometry_msgs/posestamped transform_imu 108 msgs : geometry_msgs/transformstamped velodyne_points 108 msgs : sensor_msgs/pointcloud2

git clone 下面的9個依賴包到src目錄下：

catkin****** glog_catkin（同時，apt-get install libgoole-glog-dev） gflags_catkin （同時，apt-get install libgflags-dev） minkindr eigen_catkin eigen_checks catkin_boost_python_buildtool minkindr_ros numpy_eigen

大概步驟：

cd*/src cd /catkinws #回到工作空間，catkin_make必須在工作空間下執行 catkin_make #開始編譯 source ~/catkin_ws/devel/setup.bash #重新整理環境

都除錯好後，就可以按照官方給定的方法進行執行了。

[ 1%] performing configure step for 'glog_src'

[ 5%] built target gflags_src

/bin/sh: 1: autoreconf: not found

glog_catkin/cmakefiles/glog_src.dir/build.make:108: recipe for target 'glog_catkin/glog_src-prefix/src/glog_src-stamp/glog_src-configure' failed

make[2]:[glog_catkin/glog_src-prefix/src/glog_src-stamp/glog_src-configure] error 127

cmakefiles/makefile2:956: recipe for target 'glog_catkin/cmakefiles/glog_src.dir/all' failed

make[1]:[glog_catkin/cmakefiles/glog_src.dir/all] error 2

make[1]:正在等待未完成的任務....

[ 6%] built target catkin_boost_python_test

[ 7%] built target eigen_checks

[ 11%] built target numpy_eigen_test

makefile:138: recipe for target 'all' failed

make:[all] error 2

invoking "make -j4 -l4" failed

apt-get install autoconf

traceback (most recent call last):

file 「/opt/ros/kinetic/share/gencpp/cmake/…/…/…/lib/gencpp/gencpp.py」, line 41, in

import genmsg.template_tools

file 「/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py」, line 39, in

import em

modulenotfounderror: no module named 『em』

pip install empy

注意python環境，我這裡一開始使用了anaconda3的環境，導致一直報錯，可以在

cd ～

gedit .bashrc

將anaconda的else...fi中間內容都注釋掉，其他注意事項詳見鏈結

pip uninstall em

pip install empy

注意python環境

kittito rosbag入坑教程

WSL入坑與踩坑

棄坑pexpect，入坑paramiko

Kafka入坑指南

kittito rosbag入坑教程

WSL入坑與踩坑

棄坑pexpect，入坑paramiko

Kafka入坑指南

相關推薦