supported version

python2.7
ubuntu18.04
ros-melodic

1. workspace

source ./devel/setup.bash

2. recording data

python ./main.py --input_dir ../data/mocap_env1_comb/ --gt_pose --imu --joint --rgb

🔈
use the command above to record data in the form of rosbag. Options are provided!

Tag	Sensor	Data Type
--gt_pose	ground truth 🎥	PoseStamped.msg
--imu	IMU unit	Imu.msg
--joint	joint angle of mini-cheetah 🐶	JointState.msg
--event	event camera 📷	Event.msg
--depth	depth camera 📷	Image.msg
--rgb	RGB camera 📷	Image.msg
--lidar	Lidar data	sensor_msgs/PointCloud2

P.S. 😞 Attention! since pyros require python2.7 while dv-processing is not supported by python2.7. Users need to read from event data as txt as follows then use the above command to record event data.

2.1 record event data

You need to build and source this workspace before next move

1. get event.txt

python3 ./read_event_data.py --input_dir ../data/mocap_env1_comb/ 

2. record event data

python ./main.py --input_dir ../data/mocap_env1_comb/ --event

2.2 optinal alternative 🐱

You may use third-party cpp project to transfer aedat4 file to rosbag and merge the event bad with your target

2.3 Add lidar data:

For now, you can only merge two rosbag

3. verify rosbag

rosbag play output.bag

rosbag info output.bag

rosbag echo <topic name>

2.1 check rgb, raw depth

python ./check_event_depth.py --input_dir ../data/mocap_env1_comb/

python ./check_rgb_depth.py --input_dir ../data/mocap_env1_comb/