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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2021-10-01
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph bag package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page graphbag Graph Bag

Package Overview

The graph bag package provides several tools for measuring localization performance as described below.

Tools

GraphBag

Graph bag simulates localization using a saved bagfile. Rather than relying on rosbag play, it loads measurements directly and greatly decreases runtime. To accurately simulate measurement delays and drops, the LiveMeasurementSimulator class is provided along with a config file to provide delays and minimum spacing between measurements. Graph bag saves results to a new bag file that can be processed by the plot_results_main.py script into a pdf showing information such as poses estiamtes, velocity estimates, bias estiates, covariances, and more.

BagImuFilterer

The bag imu filterer enables the testing of imu filters written in c++. It parses a bag file and loads a c++ imu filter, then saves the filtered data to a new bag file. The filtered data can be plotted and analyzed by the imu_analyzer script.

Scripts

bag_sweep

The bag sweep tool runs the graph bag tool in parallel on multiple bag files. It takes config file with bagnames, map names, and robot configs and produces pdfs and result bagfiles for each entry. Example config file:

/home/bag_name.bag /home/map_name.map /mgt/img_sampler/nav_cam/image_record /home/astrobee/astrobee config/robots/bumble.config iss false  
/home/bag_name_2.bag /home/map_name.map /mgt/img_sampler/nav_cam/image_record /home/astrobee/astrobee config/robots/bumble.config iss false

Example bag sweep command:

rosrun graph_bag bag_sweep.py /home/bag_sweep_config.csv /home/output_dir

check_bags_for_gaps

This is a simple tool to check for large gaps in imu or image data in a bagfile.

imu_analyzer_main

The imu analyzer tool plots imu data and also filtered imu data. It can use python filtering tools to lowpass filter imu data at a certain cutoff frequency, or it can use a provided bag file with filtered imu data and compare this against a bag file with unfiltered data. Data is plotted in its raw form and also after being passed through an FFT to show its frequency response.

merge_bags

Merge bags looks for bag files in the current directory with a provided name prefix and merges these into a single bag file. Bags are assumed to be numbered and are merged in numerical order.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_bag at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2021-10-01
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph bag package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page graphbag Graph Bag

Package Overview

The graph bag package provides several tools for measuring localization performance as described below.

Tools

GraphBag

Graph bag simulates localization using a saved bagfile. Rather than relying on rosbag play, it loads measurements directly and greatly decreases runtime. To accurately simulate measurement delays and drops, the LiveMeasurementSimulator class is provided along with a config file to provide delays and minimum spacing between measurements. Graph bag saves results to a new bag file that can be processed by the plot_results_main.py script into a pdf showing information such as poses estiamtes, velocity estimates, bias estiates, covariances, and more.

BagImuFilterer

The bag imu filterer enables the testing of imu filters written in c++. It parses a bag file and loads a c++ imu filter, then saves the filtered data to a new bag file. The filtered data can be plotted and analyzed by the imu_analyzer script.

Scripts

bag_sweep

The bag sweep tool runs the graph bag tool in parallel on multiple bag files. It takes config file with bagnames, map names, and robot configs and produces pdfs and result bagfiles for each entry. Example config file:

/home/bag_name.bag /home/map_name.map /mgt/img_sampler/nav_cam/image_record /home/astrobee/astrobee config/robots/bumble.config iss false  
/home/bag_name_2.bag /home/map_name.map /mgt/img_sampler/nav_cam/image_record /home/astrobee/astrobee config/robots/bumble.config iss false

Example bag sweep command:

rosrun graph_bag bag_sweep.py /home/bag_sweep_config.csv /home/output_dir

check_bags_for_gaps

This is a simple tool to check for large gaps in imu or image data in a bagfile.

imu_analyzer_main

The imu analyzer tool plots imu data and also filtered imu data. It can use python filtering tools to lowpass filter imu data at a certain cutoff frequency, or it can use a provided bag file with filtered imu data and compare this against a bag file with unfiltered data. Data is plotted in its raw form and also after being passed through an FFT to show its frequency response.

merge_bags

Merge bags looks for bag files in the current directory with a provided name prefix and merges these into a single bag file. Bags are assumed to be numbered and are merged in numerical order.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_bag at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
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