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Revert perfect_odometry bagfile changes #235

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Revert perfect_odometry bagfile changes #235

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22 changes: 14 additions & 8 deletions beluga_example/bags/perfect_odometry/metadata.yaml
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Original file line number Diff line number Diff line change
@@ -1,36 +1,42 @@
rosbag2_bagfile_information:
version: 5
storage_identifier: "sqlite3"
storage_identifier: ""
duration:
nanoseconds: 129982460028
nanoseconds: 138159689628
starting_time:
nanoseconds_since_epoch: 1676668727259050014
message_count: 4595
nanoseconds_since_epoch: 1676668727219043066
message_count: 24441
topics_with_message_count:
- topic_metadata:
name: /clock
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@nahueespinosa meta: it's OK to have a /clock topic, but it shouldn't be necessary, rosbag2 can be instructed to publish it.

type: rosgraph_msgs/msg/Clock
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 19550
- topic_metadata:
name: /odometry/filtered
type: nav_msgs/msg/Odometry
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 919
message_count: 978
- topic_metadata:
name: /odometry/ground_truth
type: nav_msgs/msg/Odometry
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 919
message_count: 978
- topic_metadata:
name: /scan
type: sensor_msgs/msg/LaserScan
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 919
message_count: 978
- topic_metadata:
name: /tf
type: tf2_msgs/msg/TFMessage
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 1838
message_count: 1956
compression_format: ""
compression_mode: ""
relative_file_paths:
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Binary file modified beluga_example/bags/perfect_odometry/perfect_odometry_0.db3
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1 change: 0 additions & 1 deletion beluga_example/launch/utils/rosbag_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,6 @@ def generate_launch_description(
rosbag_path,
'--rate',
playback_rate,
'--clock',
]

if start_paused:
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