No IMU and GPS data published over ROS

[andreaeusebi]

Hi all,
I'd like to use this dataset for testing some algorithms.
However I have a problem with IMU and GPS data: I have correctly downloaded KAIST02 data (I have tried also with KAIST03) and I followed the procedure explained in the video for setting up the folder correctly.

Then, I launched the file_player via:
roslaunch file_player file_player.launch

Looking at the ros topics, I can see that only the topics "/clock", "/os1_points" and "/radar/polar" are publishing data, all the other topics, even if listed from "rostopic list" do not publish any data. This means that neither IMU nor GPS are being published.

Can you please help me in solving this issue?

This is the folder structure that I've set up:

global_pose.csv
sensor_data/
---- data_stamp.csv
---- gps.csv
---- navtech_top_stamp.csv
---- ouster_front_stamp.csv
---- xsens_imu.csv
---- Ouster/ (which is full of .bin files)
---- radar/polar/ (which is full of .png files)

This is the output from the terminal after launching the file_player:

---

$ roslaunch file_player file_player.launch
... logging to /home/andrea/.ros/log/0dea8eaa-4288-11ee-bbec-3f6d2e2f7e9f/roslaunch-andrea-HP-ZBook-Ubuntu20v-52264.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/andrea/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://andrea-HP-ZBook-Ubuntu20v:42895/

SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.16.0

NODES
/
file_player (file_player/file_player)

auto-starting new master
process[master]: started with pid [52283]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0dea8eaa-4288-11ee-bbec-3f6d2e2f7e9f
process[rosout-1]: started with pid [52304]
started core service [/rosout]
process[file_player-2]: started with pid [52307]
Please check the file path. The input path is wrong (data_stamp.csv not exist)
Stamp data are loaded
Gps data are loaded
IMU data are loaded

---

Working on ROS noetic and Ubuntu 20.04

Thanks in advance!

[G4419]

Save here. Have you resolved it?

[G4419]

The save bag function indeed does not save IMU and GPS data, but the play function publishes all data, and we can record this data using the rosbag record tool.

[jlblancoc]

In case you are interested in a working version for ROS 2: https://docs.mola-slam.org/latest/tutorial-mulran-replay-to-ros2.html