Added launch files for new ROS bag recording method

README.md

@@ -30,6 +30,9 @@ Each challenge will contain awesome prizes (cash and others) for the most effect
 | 9/29/2016 | Sunny | 12:40 | 25G | 40G | [HTTP](http://bit.ly/udacity-dataset-2-1) | [Torrent](datasets/dataset.bag.tar.gz.torrent)| `33a10f7835068eeb29b2a3274c216e7d` |
 | 10/3/2016 | Overcast | 58:53 | 124G | 183G | [HTTP](http://bit.ly/udacity-dataset-2-2) | [Torrent](datasets/dataset-2-2.bag.tar.gz.torrent) | `34362e7d997476ed972d475b93b876f3` |
 
+####Isolated and Trimmed Driving Data
+With the help of [Auro Robotics](http://www.aurobots.com/), compression, and selective recording, we now have considerably smaller datasets that will be available shortly. You can find instructions for these datasets, when available, in the /datasets/udacity_launch readme.
+
 ## Contributions
 Here's a list of the projects we've open sourced from crowdsourced contributions:
 

datasets/udacity_launch/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(udacity_launch)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+catkin_package()
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS auro_resources auro_resources_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+

datasets/udacity_launch/README.md

@@ -0,0 +1,47 @@
+
+Dataset download
+================
+Downlaod either the content of folders as needed or to donwload the
+whole folder you can directly download the compressed file
+
+Example: Contents of udacity-dataset-2-1 or udacity-dataset-2-1.tar.bz2
+
+To utilize compressed image topics
+=================================
+You need the install the dependecy
+$sudo apt-get install ros-indigo-image-transport*
+
+To play back data
+=================
+copy the udacity_launch packagae to you catkin workspace,
+compile and source so that it is reachable.
+
+cd udacity-dataset-2-1
+rosbag play --clock *.bag
+roslaunch udacity_launch bag_play.launch
+#For visulization
+roslaunch udacity_launch rviz.launch
+
+To log data in sperate bagfiles and compressed image
+====================================================
+roslaunch udacity_launch logging.launch bagPath:="/media/Data/UdacitySDC/udacity-datasetN"
+
+
+
+To convert existing log to sperate bagfiles and compressed image
+================================================================
+rosbag  play --clock old_single_huge_bagfile.bag
+roslaunch udacity_launch logging.launch republish_raw2compressed_images:=true bagPath:="/media/Data/UdacitySDC/udacity-datasetN"
+
+
+Compressed bagfiles
+================================================================
+Each of the bagfiles are already compressed, so there is no benefit
+of compressing the folders to compressed file other than having a single file
+for the whole folder.
+The bagfiles decompress on the fly and may cause slower performance and you
+may want to decompress them before you run, size would increase by around 10% only.
+
+$rosbag decompress *.bag
+
+

datasets/udacity_launch/launch/bag_play.launch

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<!--
+Author: Jit Ray Chowdhury ([email protected])
+Last Update: 10-9-2019
+Description:  Launch logging of all usefull topics organized in speprarate bag files (logging.launch)
+-->
+<launch>
+  <param name="use_sim_time" value="true"/>
+
+
+  <include file="$(find scu_launch)/config/global_parameters.xml" />
+  <arg name="velodyne_packet2pointcloud"                default="false" />
+  <arg name="velodyne_packets2pointcloud"               default="false" />
+  <arg name="camera_compressed_to_full"                 default="true" />
+  <arg name="ackermann_cmd_from_trajectory_follow"      default="true" />
+
+    <!-- velodyne_packet2pointcloud -->
+    <node pkg="velodyne_decoder" type="velodyne_decoder_node" name="velodyne_decoder" if="$(arg velodyne_packet2pointcloud)" >
+      <remap from="velodyne_point_cloud" to="velodyne_points" />
+      <param name="min_range" value="0.3"/>
+      <param name="max_range" value="150"/>
+      <param name="frequency" value="20"/>
+      <param name="publish_point_cloud" value="true"/>
+    </node>
+    <!-- velodyne_packets2pointcloud -->
+    <node pkg="velodyne_pointcloud" type="cloud_node" name="velodyne_pointcloud" if="$(arg velodyne_packets2pointcloud)" >
+      <param name="min_range"   value="0.3"/>
+      <param name="max_range"   value="150"/>
+      <param name="calibration" value="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
+    </node>
+    <!-- camera_compressed_to_full -->
+    <node  pkg="image_transport" type="republish" name="republish_center_camera"
+          args="compressed in:=/center_camera/image_color  raw out:=/center_camera/image_color"  if="$(arg camera_compressed_to_full)"/>
+    <node  pkg="image_transport" type="republish" name="republish_right_camera"
+          args="compressed in:=/right_camera/image_color  raw out:=/right_camera/image_color"  if="$(arg camera_compressed_to_full)"/>
+    <node  pkg="image_transport" type="republish" name="republish_left_camera"
+          args="compressed in:=/left_camera/image_color  raw out:=/left_camera/image_color"  if="$(arg camera_compressed_to_full)"/>
+
+
+
+
+</launch>

datasets/udacity_launch/launch/logging.launch

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+<?xml version="1.0"?>
+<!--
+Author: Jit Ray Chowdhury ([email protected])
+Last Update: 10-9-2019
+Description:  Launch logging of all usefull topics organized in speprarate bag files (logging.launch)
+-->
+<launch>
+  <!-- Destination bag file path and its folder structure -->
+  <arg name="bagPath" default="/media/Data/UdacitySDC/udacity-dataset1" />
+  <arg name="bagIdentifier" default="udacity-dataset" />
+
+  <!-- 'dataType' specifies which type of data we want to collect --> <!-- 1 to record else 0 -->
+  <!--Sensors-->
+
+  <arg name="record_velodyne_pointcloud"  default="0" />
+  <arg name="record_velodyne_packet"      default="1" />
+  <arg name="record_camera_images"        default="1" />
+  <arg name="record_vehicle"              default="1" />
+  <arg name="record_can_interface"        default="1" />
+  <arg name="record_tf"                   default="1" />
+  <arg name="record_diagnostics"          default="1" />
+
+  <arg name="republish_raw2compressed_images"   default="0" />
+
+
+
+
+<!-- RECORDING NODES  -->
+
+<!--Sensors-->
+
+  <!-- Records  velodyne PointCloud -->
+  <group if="$(arg record_velodyne_pointcloud)">
+    <node name="record_velodyne_pointcloud" pkg="rosbag" type="record" args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_sensor_velodyne_pointcloud
+      /velodyne_points
+      /velodyne_point_cloud"
+    output="screen"/>
+  </group>
+  <!-- Records  velodyne Packets -->
+  <group if="$(arg record_velodyne_packet)">
+    <node name="record_velodyne_packet" pkg="rosbag" type="record" args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_sensor_velodyne_packet
+      /velodyne_packets
+      /velodyne_packet"
+    output="screen"/>
+  </group>
+
+  <!-- Records the camera images -->
+  <group if="$(arg record_camera_images)">
+    <!-- compress images -->
+    <node  pkg="image_transport" type="republish" name="republish_center_camera"
+          args="raw in:=/center_camera/image_color  compressed out:=/center_camera/image_color"  if="$(arg republish_raw2compressed_images)" />
+    <node  pkg="image_transport" type="republish" name="republish_right_camera"
+      args="raw in:=/right_camera/image_color  compressed out:=/right_camera/image_color"  if="$(arg republish_raw2compressed_images)" />
+    <node  pkg="image_transport" type="republish" name="republish_left_camera"
+      args="raw in:=/left_camera/image_color  compressed out:=/left_camera/image_color"  if="$(arg republish_raw2compressed_images)" />
+
+    <node name="record_camera_center" pkg="rosbag" type="record"  args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_sensor_camera_center
+    /center_camera/image_color/compressed
+    /center_camera/image_color/camera_info
+    "
+    output="screen"/>
+    <node name="record_camera_left" pkg="rosbag" type="record"  args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_sensor_camera_left
+    /left_camera/image_color/compressed
+    /left_camera/image_color/camera_info
+    "
+    output="screen"/>
+    <node name="record_camera_right" pkg="rosbag" type="record"  args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_sensor_camera_right
+    /right_camera/image_color/compressed
+    /right_camera/image_color/camera_info
+    "
+    output="screen"/>
+  </group>
+
+<!--IO-->
+  <!-- Records vehicle msgs -->
+  <group if="$(arg record_vehicle)">
+    <node name="record_vehicle" pkg="rosbag" type="record" args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_io_vehicle
+     /vehicle/brake_info_report
+     /vehicle/brake_report
+     /vehicle/dbw_enabled
+     /vehicle/filtered_accel
+     /vehicle/fuel_level_report
+     /vehicle/gear_report
+     /vehicle/gps/fix
+     /vehicle/gps/time
+     /vehicle/gps/vel
+     /vehicle/imu/data_raw
+     /vehicle/joint_states
+     /vehicle/misc_1_report
+     /vehicle/sonar_cloud
+     /vehicle/steering_report
+     /vehicle/surround_report
+     /vehicle/suspension_report
+     /vehicle/throttle_info_report
+     /vehicle/throttle_report
+     /vehicle/tire_pressure_report
+     /vehicle/twist_controller/parameter_descriptions
+     /vehicle/twist_controller/parameter_updates
+     /vehicle/wheel_speed_report
+    "
+    output="screen"/>
+  </group>
+
+  <!-- Records can interface -->
+  <group if="$(arg record_can_interface)">
+    <node name="record_can_interface" pkg="rosbag" type="record" args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_io_can_interface
+    /can_bus_dbw/can_rx
+    "
+    output="screen"/>
+  </group>
+
+
+
+
+<!--Diagnostics and tf-->
+  <!-- Records the transforms -->
+  <group if="$(arg record_tf)">
+    <node name="record_tf" pkg="rosbag" type="record" args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_tf
+    /tf
+    /tf_static
+    "
+    output="screen"/>
+  </group>
+
+  <group if="$(arg record_diagnostics)">
+    <node name="record_diagnostics" pkg="rosbag" type="record"  args="
+    --split
+    --size=3999
+    -o $(arg bagPath)/$(arg bagIdentifier)_diagnostics
+    /diagnostics
+    /diagnostics_agg
+    /diagnostics_toplevel_state"
+    output="screen"/>
+  </group>
+</launch>
+
+
+
+
+
+
+
+
+
+

datasets/udacity_launch/launch/record_video.launch

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+<?xml version="1.0"?>
+<!--
+Author: Jit Ray Chowdhury ([email protected])
+Last Update: 10-9-2019
+Description:  Launch logging of all usefull topics organized in speprarate bag files (logging.launch)
+-->
+<launch>
+  <!-- may need sudo apt-get install ros-indigo-image-transport*
+  check with rosrun image_transport list_transports
+  https://coderwall.com/p/qewf6g/how-to-extract-images-from-a-rosbag-file-and-convert-them-to-video
+  -->
+<!--
+    <node  pkg="image_transport" type="republish" name="republish"
+          args="compressed in:=/sensors/camera/image_rect_color out:=/sensors/camera/image_rect_color_bag"  />
+-->
+
+    <node  pkg="image_view" type="video_recorder" name="video_recorder"  output="screen"  >
+      <param name="stamped_filename" value="false" />
+      <param name="fps" value="30" />
+      <param name="codec" value="I420" />
+<!--
+      <param name="encoding" value="bgr8" />
+-->
+      <remap from="image" to="/sensors/camera/image_rect_color"/>
+      <param name="image_transport" type="string" value="compressed"/>
+    </node>
+</launch>

datasets/udacity_launch/launch/rviz.launch

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+<?xml version="1.0"?>
+<!--
+Author: Jit Ray Chowdhury ([email protected])
+Last Update: 10-9-2019
+Description:  Launch logging of all usefull topics organized in speprarate bag files (logging.launch)
+-->
+<launch>
+
+  <!-- rviz -->
+  <arg name="rviz"    default="true" />
+  <arg name="rviz_file" default="$(find udacity_launch)/rviz/disp.rviz" />
+  <node pkg="rviz" type="rviz" name="$(anon rviz)" args="-d $(arg rviz_file)" output="screen" if="$(arg rviz)"/>
+
+</launch>