SCRIPTS: switch bag variable to image_rect_color, add fps alias #250
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scripts/bagging_variables.sh
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| # Topic variables that can be used from the bag command | ||
| export bag_front_left_cam="/camera/front/left/camera_info /camera/front/left/image_raw" | ||
| export bag_front_right_cam="/camera/front/right/camera_info /camera/front/right/image_raw" | ||
| export bag_front_left_cam="/camera/front/left/camera_info /camera/front/left/$CAM_SUFFIX" |
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Can you add a cli option to bag to set CAM_SUFFIX? I'm fine with having image rect color as the default.
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Good idea, but that would be done in mil_common and probably best by @whispercoros
scripts/bagging_variables.sh
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| @@ -12,12 +12,14 @@ export BAG_ALWAYS="/odom /absodom /clock /tf /tf_static" | |||
| # Define the directory that the bags will be stored in | |||
| export BAG_DIR=~/bags | |||
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| # Which camera image type to use | |||
| export CAM_SUFFIX="image_rect_color" | |||
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Please note that a command line argument should be added to mil_common/scripts/bag.sh for the CAM_SUFFIX variable. This can be copied from the sections that address the BAG_ALWAYS or BAG_HOME variables. Also, I would prefer that it be called BAG_CAM_SUFFIX to keep with my naming convention in this file as well as to have the comment begin with the word "Define" (sorry to nit pick).
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If you want to add that flag for CAM_SUFFIX (or, better, arbitrary meta variables) it would be cool. Until than it was just a way to save me typing the same thing thrice and we shouldn't over think it. I'll change the variable name and comment.
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Alright, I will add this to the list and merge this once it is done.
We found with Navigator that it's more convientent to have image_rect_color in bags since all perception nodes (should) use it instead of image_raw. This makes it easier to test without having to run image_proc, and you could pottentialy still unrectify back to image_raw if needed. So this switches the bag variables to use image_rect_color.
I also added the alias I was using at testing today to see if the cameras were up. It just runs rostopic hz on the camera topics so we can know which ones are up and what their framerates are. Useful for diagnostics.