kittito_rosbag入坑教程
kittito_rosbag入坑教程
github链接：https://github.com/ethz-asl/kitti_to_rosbag
准备
- ubuntu 16.04
- ros
在root下操作
执行
# 使用tmux分屏
# 开一个terminal
roscore
#再开一个terminal rosrun kittito_rosbag kitti_rosbag_converter calibration_path dataset_path output_path
#cd 到数据路径下
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
实际运行的2011_09_26_drive_0001，结果如下：
Timestamps:
1317013345967791872 1317013357004624640
Timestamps:
1317013345961661696 1317013356998492672
Timestamps:
1317013345961178112 1317013356998005504
Converted 108 entries into a rosbag.
查看转换后的rosbag.bag文件信息
rosbag info testbag.bag
结果如下：
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
踩坑之路
错误1：环境依赖出错
解决方案
git clone 下面的9个依赖包到src目录下：
catkinsimple
glog_catkin（同时，apt-get install libgoole-glog-dev）
gflags_catkin （同时，apt-get install libgflags-dev）
minkindr
eigen_catkin
eigen_checks
catkin_boost_python_buildtool
minkindr_ros
numpy_eigen
大概步骤：
cd */src
git clone #下载上述的9个依赖
cd /catkinws #回到工作空间，catkin_make必须在工作空间下执行
catkin_make #开始编译
source ~/catkin_ws/devel/setup.bash #刷新环境
都调试好后，就可以按照官方给定的方法进行执行了。
https://github.com/ethz-asl/kitti_to_rosbag/issues/15
错误2：git clone所有包后，catkin_make时报错：
[ 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务....
[ 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
解决方案：
apt-get install autoconf
错误3：ModuleNotFoundError: No module named ‘em’
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’
解决方案：
pip install empy
注意python环境，我这里一开始使用了anaconda3的环境，导致一直报错，可以在
cd ～
gedit .bashrc
将anaconda的else...fi中间内容都注释掉，其他注意事项详见链接
http://www.pianshen.com/article/2083174168/
错误4：AttributeError: 'module' object has no attribute 'Interpreter' #63
解决方案：
pip uninstall em
pip install empy
注意python环境
https://github.com/ros/genmsg/issues/63