Version: 1.0.0 (documentation 0.1.0)

• Ubuntu 16.04
• ROS Kinetic

• Will be updated

0. roscore
1. roslaunch icra20 all_sensors.launch
2. rosrun rqt_reconfigure rqt_reconfigure , lowering 6 param (shorcut : roslaunch icra20 reconfigure.launch)
3. rosbag record /scan /camera/aligned_depth_to_color/image_raw/compressedDepth /camera/color/image_raw/compressed
4. roslaunch icra20 all_nodes.launch (make sure to change launch file parameter.)

1. python3 generate_h5.py //should change target_path
2. python3 analyze_h5.py

1. save_projected_img : save img file with rp pcl projected to 'img+rp' directory.
2. visualize_depth_and_projected_img : concat 'img file with rp pcl projected' and 'colored depth' + visualize it.(Fast)
3. save_concat_img : concat 'img file with rp pcl projected' and 'colored depth' + save it to 'concat' directory.

• script/laser2pc.py
  • Transform HOKUYO LaserScan to PointCloud2
• src/data_synchronizer.cpp
  • Synchronize following data: image, HOKUYO LaserScan, HOKUYO PointClouds, realsense depth
• src/data_saver.cpp
  • Saving thread for aforementioned data