ROS学习笔记之——rpg

ROS学习笔记之——rpg

之前博客《ROS学习笔记之——EVO工具的使用》采用了EVO来衡量误差，本博文试试rpg_trajectory_evaluation

首先编译

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone  https://github.com/uzh-rpg/rpg_trajectory_evaluation.git
git clone https://github.com/catkin/catkin_simple.git
cd ..
catkin_make 

安装依赖库

pip install numpy
pip install matplotlib
pip install colorama
pip install ruamel.yaml
sudo apt install texlive-fonts-recommended texlive-fonts-extra
sudo apt install dvipng

首先将rosbag转换为需要的文件，通过bag_to_pose.py

python2 /home/kwanwaipang/catkin_ws/src/rpg_trajectory_evaluation/scripts/dataset_tools/bag_to_pose.py /home/kwanwaipang/dataset/gwphku/amcl_vicon_2021-11-04-11-18-50.bag /amcl_pose --msg_type PoseWithCovarianceStamped --output stamped_traj_estimate.txt

python2 /home/kwanwaipang/catkin_ws/src/rpg_trajectory_evaluation/scripts/dataset_tools/bag_to_pose.py /home/kwanwaipang/dataset/gwphku/amcl_vicon_2021-11-04-11-18-50.bag /turtlebot2/viconros/mocap/pos --msg_type PoseStamped --output stamped_groundtruth.txt



通过rostopic info即可查看topic类型

然后运行(plots: plots of absolute errors, relative (odometry) errors and the trajectories.)

python2 scripts/analyze_trajectory_single.py /home/kwanwaipang/dataset/gwphku/amcl

 

 

 

 

 

 

 

 

 

 

参考资料

https://github.com/uzh-rpg/rpg_trajectory_evaluation