How to create OpenVSLAM map and then perform localization using rosbag files in ROS2 #126

Udaykiran87 · 2021-06-16T09:38:34Z

Udaykiran87
Jun 16, 2021

Hello Community,

Thanks for your amazing work and the continuous support that i have been receiving for my queries.

So far i was trying to create map using either .mp4 file or USB camera, but now i am interested to input rosbag files in ROS2 to create map and then do localization. I could not find any example. Is there any documentation or help to do so.

Any help is highly appreciated.

Thanks and Regards,
Udaykiran Patnaik.

Answered by ymd-stella

Jun 16, 2021

There is no detailed documentation for using OpenVSLAM with rosbag. The only thing you can refer to is the CI workflow.

https://github.com/OpenVSLAM-Community/openvslam_ros/blob/29ab69f1560e9f1c71f374ad2985d1a31ac6576d/wercker.yml#L52-L63

Contributions are welcome.

View full answer

ymd-stella · 2021-06-16T10:35:07Z

ymd-stella
Jun 16, 2021
Maintainer

There is no detailed documentation for using OpenVSLAM with rosbag. The only thing you can refer to is the CI workflow.

https://github.com/OpenVSLAM-Community/openvslam_ros/blob/29ab69f1560e9f1c71f374ad2985d1a31ac6576d/wercker.yml#L52-L63

Contributions are welcome.

4 replies

Udaykiran87 Jun 17, 2021
Author

Thank you so much, i will give a try and let you know my result.

ymd-stella Jun 17, 2021
Maintainer

I've created issue #28.

Udaykiran87 Jun 17, 2021
Author

@ymd-stella
Just to educate my self, could you please tell me with rosbag, can we use socket viewer (if i modify the dockerfile.ci for socket)or will it work only with pangolin as given in dockerfile.ci?

Udaykiran87 Jun 17, 2021
Author

I guess, it will work as mentioned in issue#28 37169b4#L204
Thank you for suggesting issue#28

Udaykiran87 · 2021-06-18T12:28:57Z

Udaykiran87
Jun 18, 2021
Author

@ymd-stella
When i used below settings as mentioned in the docker.ci inside my docker file then i was unable to use rosbag2 inside my container as storage id rosbag2 was not recognized.

# ROS
ENV ROS1_DISTRO noetic
ENV ROS2_DISTRO foxy

RUN set -x && \
  sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
  apt-get update -y -qq && \
  : "install ROS1 and ROS2" && \
  apt-get install -y -qq \
    ros-${ROS2_DISTRO}-image-transport \
    ros-${ROS2_DISTRO}-cv-bridge \
    ros-${ROS2_DISTRO}-rosbag2-bag-v2-plugins \
    ros-${ROS2_DISTRO}-ros2bag \
    ros-${ROS2_DISTRO}-rosbag2-transport \
    ros-${ROS2_DISTRO}-rosbag2-converter-default-plugins \
    python3-pip \
    python3-colcon-common-extensions && \
  pip3 install -U \
    argcomplete && \
  : "remove cache" && \
  apt-get autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

Then i had to edit my docker as below as a workaround to make it work.

# ROS
ENV ROS1_DISTRO noetic
ENV ROS2_DISTRO galactic

# ROS2
RUN set -x && \
  sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
  apt-get update -y -qq && \
  : "install ROS1 and ROS2" && \
  apt-get install -y -qq \
    ros-${ROS2_DISTRO}-image-transport \
    ros-${ROS2_DISTRO}-cv-bridge \
    ros-${ROS2_DISTRO}-image-tools \
    ros-foxy-rosbag2-bag-v2-plugins \
    ros-foxy-ros2bag \
    ros-foxy-rosbag2-transport \
    ros-foxy-rosbag2-converter-default-plugins \
    ros-foxy-rosbag2-storage-default-plugins \
    python3-pip \
    python3-colcon-common-extensions && \
  pip3 install -U \
    argcomplete && \
  : "remove cache" && \
  apt-get autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

Now i am able to use rosbag example : EuRoC/MH_04_difficult.bag by following the instruction given in ci-workflow file.

But i am using realsense d455 rosbag file for my task and slightly confused with what exact parameters to pass in place of below 3 lines (including what should be the --ros-args in 3rd line).
Note: I have config.yaml already.

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link cam0
ros2 run openvslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c ../ros_ws/src/openvslam/example/euroc/EuRoC_mono.yaml --map-db map.msg --ros-args -r /camera/image_raw:=/cam0/image_raw

Output of ros2 bag info is as below (I hope this will help you to decide the ros parameters/ topics).

Files:             20210615_134517.bag
Bag size:          1.6 GiB
Storage id:        rosbag_v2
Duration:          15.611s
Start:             Jan  1 1970 00:00:00.0 (0.0)
End:               Jan  1 1970 00:00:15.611 (15.611)
Messages:          21213
Topic information: Topic: /file_version | Type: std_msgs/msg/UInt32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/Depth_0/info/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/Color_0/info/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/info | Type: diagnostic_msgs/msg/KeyValue | Count: 13 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/info | Type: diagnostic_msgs/msg/KeyValue | Count: 2 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Exposure/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Exposure/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Gain/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Gain/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Enable_Auto_Exposure/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Enable_Auto_Exposure/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Visual_Preset/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Visual_Preset/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Laser_Power/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Laser_Power/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Emitter_Enabled/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Emitter_Enabled/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Frames_Queue_Size/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Frames_Queue_Size/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Asic_Temperature/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Asic_Temperature/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Error_Polling_Enabled/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Error_Polling_Enabled/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Projector_Temperature/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Projector_Temperature/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Output_Trigger_Enabled/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Output_Trigger_Enabled/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Depth_Units/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Depth_Units/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Stereo_Baseline/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Stereo_Baseline/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Inter_Cam_Sync_Mode/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Inter_Cam_Sync_Mode/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Emitter_On_Off/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Emitter_On_Off/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Global_Time_Enabled/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Global_Time_Enabled/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Emitter_Always_On/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/option/Emitter_Always_On/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/post_processing | Type: std_msgs/msg/String | Count: 10 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/info | Type: diagnostic_msgs/msg/KeyValue | Count: 2 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Backlight_Compensation/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Backlight_Compensation/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Brightness/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Brightness/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Contrast/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Contrast/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Exposure/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Exposure/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Gain/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Gain/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Gamma/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Gamma/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Hue/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Hue/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Saturation/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Saturation/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Sharpness/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Sharpness/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/White_Balance/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/White_Balance/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Enable_Auto_Exposure/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Enable_Auto_Exposure/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Enable_Auto_White_Balance/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Enable_Auto_White_Balance/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Frames_Queue_Size/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Frames_Queue_Size/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Power_Line_Frequency/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Power_Line_Frequency/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Auto_Exposure_Priority/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Auto_Exposure_Priority/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Global_Time_Enabled/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/option/Global_Time_Enabled/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/post_processing | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/info | Type: diagnostic_msgs/msg/KeyValue | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/option/Frames_Queue_Size/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/option/Frames_Queue_Size/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/option/Enable_Motion_Correction/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/option/Enable_Motion_Correction/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/option/Global_Time_Enabled/value | Type: std_msgs/msg/Float32 | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_2/option/Global_Time_Enabled/description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/Color_0/image/data | Type: sensor_msgs/msg/Image | Count: 469 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/Color_0/image/metadata | Type: diagnostic_msgs/msg/KeyValue | Count: 10787 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_1/Color_0/tf/0 | Type: geometry_msgs/msg/Transform | Count: 1 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/Depth_0/image/data | Type: sensor_msgs/msg/Image | Count: 469 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/Depth_0/image/metadata | Type: diagnostic_msgs/msg/KeyValue | Count: 9380 | Serialization Format: rosbag_v2
                   Topic: /device_0/sensor_0/Depth_0/tf/0 | Type: geometry_msgs/msg/Transform | Count: 1 | Serialization Format: rosbag_v2

Any hint would help me a lot.

Thanks and Regards,
Udaykiran Patnaik.

37 replies

Udaykiran87 Jun 23, 2021
Author

Use images of the same resolution.

I am sorry, i could not understand. Is it ok to use 1280x720 in config.yaml?

Or do you suggest me to request customer to take videos with same resolution for depth and color and create rosbag out of it. Is my understanding correct. I may sound stupid.

Udaykiran87 Jun 23, 2021
Author

I observed that in case of tum-rgbd-fr2, both depth and color images are of 640x480 resolution.

ymd-stella Jun 23, 2021
Maintainer

Or do you suggest me to request customer to take videos with same resolution for depth and color and create rosbag out of it.

Yes. rosbag with same resolution images for depth and color is needed. (To be precise, it also needs to be aligned and time synchronized.)

Udaykiran87 Jun 23, 2021
Author

Thank you so much for confirming.

Udaykiran87 Jun 24, 2021
Author

I used wip/approximate-time-rgbd branch for my work. I just added below line:
depthcv.convertTo(depthcv, CV_32F);

Thanks for the report, I fixed it to filter nan only for CV_32FC1.

You are welcome. I hope once i am free with my work and get a stable working application using ros2, i will try to add in readme.md.

It is working with new code.

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How to create OpenVSLAM map and then perform localization using rosbag files in ROS2 #126

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