From 87458482d9cf590ac0395e3b5c4a56ae7d5a7855 Mon Sep 17 00:00:00 2001 From: John Zhao Date: Thu, 7 Jun 2018 12:45:23 +0800 Subject: [PATCH] Update default topics --- tools/README.md | 2 +- tools/analytics/imu_analytics.py | 4 ++-- tools/analytics/stamp_analytics.py | 4 ++-- tools/config/mynteye/mynteye_config.yaml | 8 +++---- .../launch/mynteye.launch | 20 ++++++++-------- .../mynt_eye_ros_wrapper/rviz/mynteye.rviz | 24 +++++++++---------- 6 files changed, 31 insertions(+), 31 deletions(-) diff --git a/tools/README.md b/tools/README.md index 9953c07..4d64abc 100644 --- a/tools/README.md +++ b/tools/README.md @@ -69,7 +69,7 @@ roslaunch mynt_eye_ros_wrapper mynteye.launch ``` ```bash -rosbag record -O mynteye.bag /mynteye/left /mynteye/imu /mynteye/temp +rosbag record -O mynteye.bag /mynteye/left/image_raw /mynteye/imu/data_raw /mynteye/temp/data_raw ``` ## Analytics data (rosbag) diff --git a/tools/analytics/imu_analytics.py b/tools/analytics/imu_analytics.py index 8c646a9..d3afe8a 100644 --- a/tools/analytics/imu_analytics.py +++ b/tools/analytics/imu_analytics.py @@ -650,8 +650,8 @@ def _main(): else: dataset = ROSBag( path, - topic_imu='/mynteye/imu', - topic_temp='/mynteye/temp') + topic_imu='/mynteye/imu/data_raw', + topic_temp='/mynteye/temp/data_raw') return dataset if args.binary: diff --git a/tools/analytics/stamp_analytics.py b/tools/analytics/stamp_analytics.py index db96569..3814126 100644 --- a/tools/analytics/stamp_analytics.py +++ b/tools/analytics/stamp_analytics.py @@ -334,8 +334,8 @@ def _main(): sys.exit('Error: dataset model not supported {}'.format(model)) else: dataset = ROSBag(path, - topic_img_left='/mynteye/left', - topic_imu='/mynteye/imu') + topic_img_left='/mynteye/left/image_raw', + topic_imu='/mynteye/imu/data_raw') return dataset dataset = BinDataset(dataset_path, dataset_creator) diff --git a/tools/config/mynteye/mynteye_config.yaml b/tools/config/mynteye/mynteye_config.yaml index 16b81fe..a915a17 100644 --- a/tools/config/mynteye/mynteye_config.yaml +++ b/tools/config/mynteye/mynteye_config.yaml @@ -3,7 +3,7 @@ dataset: "mynteye" # rosbag config rosbag: - topic_img_left: "/mynteye/left" - topic_img_right: "/mynteye/right" - topic_imu: "/mynteye/imu" - topic_temp: "/mynteye/temp" + topic_img_left: "/mynteye/left/image_raw" + topic_img_right: "/mynteye/right/image_raw" + topic_imu: "/mynteye/imu/data_raw" + topic_temp: "/mynteye/temp/data_raw" diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch index 883d909..83e1e70 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch @@ -4,17 +4,17 @@ - - - - - - - - + + + + + + + + - - + + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz index 97eb3ff..0fd02ab 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz @@ -55,7 +55,7 @@ Visualization Manager: Displays: - Class: rviz/Image Enabled: true - Image Topic: /mynteye/left + Image Topic: /mynteye/left/image_raw Max Value: 1 Median window: 5 Min Value: 0 @@ -67,7 +67,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /mynteye/right + Image Topic: /mynteye/right/image_raw Max Value: 1 Median window: 5 Min Value: 0 @@ -81,7 +81,7 @@ Visualization Manager: Displays: - Class: rviz/Image Enabled: true - Image Topic: /mynteye/left_rect + Image Topic: /mynteye/left/image_rect Max Value: 1 Median window: 5 Min Value: 0 @@ -93,7 +93,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /mynteye/right_rect + Image Topic: /mynteye/right/image_rect Max Value: 1 Median window: 5 Min Value: 0 @@ -111,7 +111,7 @@ Visualization Manager: Displays: - Class: rviz/Image Enabled: true - Image Topic: /mynteye/disparity + Image Topic: /mynteye/disparity/image_raw Max Value: 1 Median window: 5 Min Value: 0 @@ -123,7 +123,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /mynteye/disparity_norm + Image Topic: /mynteye/disparity/image_norm Max Value: 1 Median window: 5 Min Value: 0 @@ -137,7 +137,7 @@ Visualization Manager: Name: Disparity - Class: rviz/Image Enabled: true - Image Topic: /mynteye/depth + Image Topic: /mynteye/depth/image_raw Max Value: 1 Median window: 5 Min Value: 0 @@ -157,7 +157,7 @@ Visualization Manager: Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 - Color Transformer: "" + Color Transformer: RGB8 Decay Time: 0 Enabled: true Invert Rainbow: false @@ -166,13 +166,13 @@ Visualization Manager: Min Color: 0; 0; 0 Min Intensity: 0 Name: Points - Position Transformer: "" + Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Flat Squares - Topic: /mynteye/points + Topic: /mynteye/points/data_raw Unreliable: false Use Fixed Frame: true Use rainbow: true @@ -183,7 +183,7 @@ Visualization Manager: Enabled: false History Length: 1 Name: Imu - Topic: /mynteye/imu + Topic: /mynteye/imu/data_raw Unreliable: false Value: false Enabled: true @@ -247,7 +247,7 @@ Window Geometry: collapsed: false LeftRect: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000040c000000860000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000001bc000002170000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000017e00000396fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000040c000000860000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000001bc000002170000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004a60000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Right: collapsed: false RightRect: