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SCRIPTS: switch bag variable to image_rect_color, add fps alias #250

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May 18, 2017
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SCRIPTS: switch bag variable to image_rect_color, add fps alias #250

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18 changes: 11 additions & 7 deletions scripts/bagging_variables.sh
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
#!/bin/bash

# This script will be sourced by the bmux command and the variables will be
# used by the bag command. It is imperative that each variable is in the bag_*
# namespace and contains a space diliniated list of ROS topics. The only two
# exceptions to this rule are the BAG_ALWAYS and BAG_DIR variables.
# This script will be sourced by the bag command as a configuration file. It is
# imperative that each variable is in the bag_* namespace and contains a space
# deliniated list of ROS topics. The only two exceptions to this rule are the
# BAG_ALWAYS and BAG_DIR variables.


# Define topics that should be in every bag
Expand All @@ -13,11 +13,15 @@ export BAG_ALWAYS="/odom /absodom /clock /tf /tf_static"
export BAG_DIR=~/bags


# Define the type of image to use for camera topics
export CAM_SUFFIX="image_rect_color"


# 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/$CAM_SUFFIX"
export bag_front_right_cam="/camera/front/right/camera_info /camera/front/right/$CAM_SUFFIX"
export bag_front_cams="$bag_front_left_cam $bag_front_right_cam"
export bag_down_cam="/camera/down/left/camera_info /camera/down/left/image_raw"
export bag_down_cam="/camera/down/left/camera_info /camera/down/left/$CAM_SUFFIX"
export bag_blueview_ranges="/blueview_driver/ranges"
export bag_blueview_color="/blueview_driver/image_color"
export bag_blueview_mono="/blueview_driver/image_mono"
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3 changes: 3 additions & 0 deletions scripts/bash_aliases.sh
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Expand Up @@ -17,3 +17,6 @@ alias sshsub="ssh sub8@${HOSTNAMES[0]} -Y"
# Missions
alias subm="rosrun sub8_missions run_mission"
alias subc="rosrun sub8_missions move_command"

# Cameras
alias subfps="rostopic hz $bag_front_cams $bag_down_cam"