-
Notifications
You must be signed in to change notification settings - Fork 14
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
f4d35e4
commit 71d7831
Showing
15 changed files
with
1,160 additions
and
922 deletions.
There are no files selected for viewing
61 changes: 61 additions & 0 deletions
61
wild_visual_navigation_anymal/config/procman/record_rosbags.pmd
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| group "0 - Setup" { | ||
| cmd "0.0 - anymal_rsl_replay" { | ||
| exec = "rosrun anymal_rsl_launch replay.py d /Data/2024_02_06_Dodo_MPI_WVN/dodo_mission_2024_02_06/2024-02-06-14-39-01_Small_MPI_Indoor/2024-02-06-14-39-01_lpc.yaml"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.1 - anymal_msg_converter" { | ||
| exec = "rosrun wild_visual_navigation_anymal anymal_msg_converter_node.py"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.2 - resize_images_wide_angle_dual" { | ||
| exec = "roslaunch wild_visual_navigation_anymal resize_images_wide_angle_dual.launch"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.3 - resize_hdr" { | ||
| exec = "roslaunch wild_visual_navigation_anymal resize_hdr.launch"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.4 - uncompress_front" { | ||
| exec = "rosrun image_transport republish compressed in:=/wide_angle_camera_front/image_color_rect raw out:=/wide_angle_camera_front/image_color_rect"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.5 - uncompress_rear" { | ||
| exec = "rosrun image_transport republish compressed in:=/wide_angle_camera_rear/image_color_rect raw out:=/wide_angle_camera_rear/image_color_rect"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.6 - uncompress_hdr" { | ||
| exec = "rosrun image_transport republish compressed in:=/hdr_camera/image_raw raw out:=/hdr_camera/image_raw"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.7 - record_coordinate" { | ||
| exec = "rosrun anymal_rsl_recording rosbag_record_coordinator.py"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.8 - record_node" { | ||
| exec = "rosrun anymal_rsl_recording rosbag_record_node.py __name:=rosbag_record_node_ge76"; | ||
| host = "localhost"; | ||
| } | ||
| cmd "0.9 - rviz" { | ||
| exec = "roslaunch wild_visual_navigation_anymal view.launch"; | ||
| host = "localhost"; | ||
| } | ||
| } | ||
|
|
||
|
|
||
| group "1 - Recording" { | ||
| cmd "1.1 - start recording" { | ||
| exec = "rosservice call /rosbag_record_robot_coordinator/start_recording \"yaml_file: '/home/jonfrey/workspaces/catkin_ws/src/wild_visual_navigation/wild_visual_navigation_anymal/config/recording/create_open_source_rosbags.yaml'\""; | ||
| host = "localhost"; | ||
| } | ||
| cmd "1.2 - stop recording" { | ||
| exec = "rosservice call /rosbag_record_robot_coordinator/stop_recording \"verbose: false\""; | ||
| host = "localhost"; | ||
| } | ||
| } | ||
|
|
||
| group "2 - bag play" { | ||
| cmd "2.0 - rosbag play" { | ||
| exec = "rosbag_play --sem --tf --flp --wvn --sem /Data/2024_02_06_Dodo_MPI_WVN/dodo_mission_2024_02_06/2024-02-06-14-39-01_Small_MPI_Indoor/*.bag -r 0.5 -l "; | ||
| host = "localhost"; | ||
| } | ||
| } |
266 changes: 0 additions & 266 deletions
266
wild_visual_navigation_anymal/config/procman/robot_dodo.pmd
This file was deleted.
Oops, something went wrong.
23 changes: 23 additions & 0 deletions
23
wild_visual_navigation_anymal/config/recording/create_open_source_rosbags.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| ge76: | ||
| open_source: | ||
| - /tf | ||
| - /tf_static | ||
| - /clock | ||
| - /motion_reference/command_twist | ||
| - /debug_info | ||
| - /twist_mux/twist | ||
| - /depth_camera_front_upper/point_cloud_self_filtered | ||
| - /depth_camera_front_lower/point_cloud_self_filtered | ||
| - /depth_camera_rear_upper/point_cloud_self_filtered | ||
| - /depth_camera_rear_lower/point_cloud_self_filtered | ||
| - /depth_camera_left/point_cloud_self_filtered | ||
| - /depth_camera_right/point_cloud_self_filtered | ||
| - /state_estimator/pose_in_odom | ||
| - /point_cloud_filter/lidar/point_cloud_filtered | ||
| - /wide_angle_camera_front/image_color_rect_resize | ||
| - /wide_angle_camera_front_resize/camera_info | ||
| - /wide_angle_camera_rear/image_color_rect_resize | ||
| - /wide_angle_camera_rear_resize/camera_info | ||
| - /wild_visual_navigation_node/robot_state | ||
| - /hdr_camera_resize/image_raw | ||
| - /hdr_camera_resize/camera_info |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| <launch> | ||
| <!-- Launch the image_proc nodelet front--> | ||
| <node pkg="nodelet" type="nodelet" name="standalone_nodelet_hdr" args="manager"/> | ||
| <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_hdr" args="load image_proc/resize standalone_nodelet_hdr"> | ||
| <remap from="camera_info" to="/hdr_camera/camera_info" /> | ||
| <remap from="~camera_info" to="/hdr_camera_resize/camera_info" /> | ||
| <remap from="image" to="/hdr_camera/image_raw" /> | ||
| <remap from="~image" to="/hdr_camera_resize/image_raw" /> | ||
| <param name="scale_width" value="0.2074077" /> | ||
| <param name="scale_height" value="0.2074077" /> | ||
| </node> | ||
| </launch> |
Oops, something went wrong.