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1 | initial version |
I have found command line solution to this problem, but I've managed to use rosbag API to populate missing covariance values.
import rospy
import rosbag
output_bag = 'loop_closing_filtered_with_covariance.bag'
input_bag = 'loop_closing_filtered.bag'
with rosbag.Bag(output_bag, 'w') as outbag:
for topic, msg, t in rosbag.Bag(input_bag).read_messages():
if topic == "/imu_data":
msg.orientation_covariance = [10000.0, 0.0, 0.0, 0.0, 10000.0,
0.0, 0.0, 0.0, 0.0025]
msg.linear_acceleration_covariance = [0.04, 0.0, 0.0, 0.0, 10000.0,
0.0, 0.0, 0.0, 10000.0]
outbag.write(topic, msg, t)
else:
outbag.write(topic, msg, t)
2 | No.2 Revision |
I have haven't found command line solution to this problem, but I've managed to use rosbag API to populate missing covariance values.
import rospy
import rosbag
output_bag = 'loop_closing_filtered_with_covariance.bag'
input_bag = 'loop_closing_filtered.bag'
with rosbag.Bag(output_bag, 'w') as outbag:
for topic, msg, t in rosbag.Bag(input_bag).read_messages():
if topic == "/imu_data":
msg.orientation_covariance = [10000.0, 0.0, 0.0, 0.0, 10000.0,
0.0, 0.0, 0.0, 0.0025]
msg.linear_acceleration_covariance = [0.04, 0.0, 0.0, 0.0, 10000.0,
0.0, 0.0, 0.0, 10000.0]
outbag.write(topic, msg, t)
else:
outbag.write(topic, msg, t)