README.md

enav_utilities

A lightweight python package for rosbag data extraction. Sample plotting scripts are included.

First, read the project's main README.md and set up / run a Docker container of the ENAV image. The data loading instances are globally importable; scripts mentioned below show usage examples and are located in the container at /root/enav_utilities/scripts.

Table of contents

• Package setup
• Aerial maps visualization
• Rosbag data fetching
  • GPS data (& spatial plotting)
  • Images
  • Point clouds
  • Energy consumption
  • Solar irradiance
  • IMU data
  • Encoder data
  • Commanded and estimated velocities

Aerial maps visualization

A ENAVMapsLoader instance handles georeferenced maps loading & related metadata. Plotting example script:

python plot_rasters.py -d /enav_dataset/maps

Rosbag data fetching

A ENAVRosbagLoader instance is initialized with a specific rosbag path and provides methods to access every data stream. Some usage examples are provided below.

GPS data (& spatial plotting)

python plot_gps_data.py -b /path/to/file.bag -d /path/to/maps

Images

python plot_images.py -b /path/to/file.bag

Point clouds

Refer to the load_pointcloud_data method. Note that point clouds are saved in a separate rosbag for each run, so a rosbag different from the one needed for all other data types needs to be loaded.

Energy consumption

python plot_energy.py -b /path/to/file.bag

Solar irradiance

python plot_irradiance.py -b /path/to/file.bag

IMU data

python plot_imu_data.py -b /path/to/file.bag

Encoder data

Refer to the load_encoder_data method.

Commanded and estimated velocities

python plot_cmd_est_velocity_data.py -b /path/to/file.bag