rosbag record commands

rostopic echo /speedwagon/rgb/image_rect_color/header/stamp

Reference this pacckages somewhere: https://pypi.org/project/MultiCamCalAruco/ this link has python project, update prepared package later https://github.com/DonHaul/MultiCamCalAruco

eveything

rosbag record --split --size=1024 --duration=4 -b 0 -a

2 camerainfoRGB + camerainfoDepth

rosbag record --split --size=1024 -b 0 /abretesesamo/rgb/camera_info /ervilhamigalhas/rgb/camera_info /ervilhamigalhas/depth/camera_info /abretesesamo/depth/camera_info

1 rgb + camera_params

rosbag record --split --size=1024 -b 0 /abretesesamo/rgb/image_color /abretesesamo/rgb/camera_info

2 rgb

rosbag record --split --size=1024 -b 0 /abretesesamo/rgb/image_color /ervilhamigalhas/rgb/image_color

1 rgb + depth

rosbag record --split --size=1024 -b 0 /camera/depth_registered/image_raw /camera/rgb/image_color

2 pc2

rosbag record --split --size=1024 -b 0 /ervilhamigalhas/depth_registered/points /abretesesamo/depth_registered/points

2 rgb + depth

rosbag record --split --size=1024 -b 0 /ervilhamigalhas/depth_registered/image_raw /abretesesamo/depth_registered/image_raw /ervilhamigalhas/rgb/image_color /abretesesamo/rgb/image_color

3 rgb + depth ervilhas abretesesano fernanod

rosbag record --split --size=2048 -b 0 /ervilhamigalhas/depth_registered/image_raw /abretesesamo/depth_registered/image_raw /fernando/depth_registered/image_raw /ervilhamigalhas/rgb/image_color /abretesesamo/rgb/image_color /fernando/rgb/image_color

3 rgb + depth ervilhas abretesesamo fernanod

rosbag record --split --size=2048 -b 0 /ervilhamigalhas/depth_registered/image_raw /ervilhamigalhas/rgb/image_color /abretesesamo/depth_registered/image_raw abretesesamo/rgb/image_color /fernando/rgb/image_color /fernando/depth_registered/image_raw/

3 rgb + depth ervilhas abretesesano quim

rosbag record --split --size=2048 -b 0 /ervilhamigalhas/depth_registered/image_raw /ervilhamigalhas/rgb/image_color /abretesesamo/depth_registered/image_raw abretesesamo/rgb/image_color /quim/rgb/image_color /quim/depth_registered/image_raw/

3 rgb + depth ervilhas quim fernanod

rosbag record --split --size=2048 -b 0 /ervilhamigalhas/depth_registered/image_raw /ervilhamigalhas/rgb/image_color /quim/depth_registered/image_raw quim/rgb/image_color /fernando/rgb/image_color /fernando/depth_registered/image_raw/

3 rgb + depth abrete quim fernanod

rosbag record --split --size=2048 -b 0 /abretesesamo/depth_registered/image_raw /abretesesamo/rgb/image_color /quim/depth_registered/image_raw quim/rgb/image_color /fernando/rgb/image_color /fernando/depth_registered/image_raw/

2 rgb + depth + pc2

rosbag record --split --size=2048 -b 0 /ervilhamigalhas/depth_registered/image_raw /abretesesamo/depth_registered/image_raw /ervilhamigalhas/rgb/image_color /abretesesamo/rgb/image_color /ervilhamigalhas/depth_registered/points /abretesesamo/depth_registered/points

camera calibration script

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.042 image:=/ervilhamigalhas/rgb/image_color camera:=ervilhamigalhas --no-service-check rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.042 image:=/quim/rgb/image_color camera:=quim --no-service-check

quim rgb + depth

rosbag record --split --size=1024 -b 0 /quim/depth_registered/image_raw /quim/rgb/image_color

rosrun rqt_tf_tree rqt_tf_tree

aruco normals diagonal:(real) first face (2,3,4) : 0.300 m second face (5,6,7) : 0.296 m second face (8,9,10) : 0.29 m second face (11,12,13) : 0.294 m

do modelo captado 0.30318389030032905 0.2979090065279915 0.2921658037606405 0.2959685667815067

kinect mode

rosbag record --split --size=2048 -b 0 /camera/depth/points /camera/depth_registered/points /camera/rgb/raw /camera/depth/image_raw /camera/rgb/image_raw /tf_static

2 realsenseki2nect mode

rosbag record --split --size=2048 -b 0 /speedwagon/rgb/image_rect_color /speedwagon/depth_registered/sw_registered/image_rect_raw /emperorcrimson/rgb/image_rect_color /emperorcrimson/depth_registered/sw_registered/image_rect_raw

5 realsenseki2nect mode 5cams rgb+depth

rosbag record --split --size=4096 -b 0 /speedwagon/rgb/image_rect_color /speedwagon/depth_registered/sw_registered/image_rect_raw /emperorcrimson/rgb/image_rect_color /emperorcrimson/depth_registered/sw_registered/image_rect_raw /mista/rgb/image_rect_color /mista/depth_registered/sw_registered/image_rect_raw /killerqueen/rgb/image_rect_color /killerqueen/depth_registered/sw_registered/image_rect_raw /diavolo/rgb/image_rect_color /diavolo/depth_registered/sw_registered/image_rect_raw

4 realsenseki2nect mode 5cams rgb+depth

rosbag record --split --size=4096 -b 0 /speedwagon/rgb/image_rect_color /speedwagon/depth_registered/sw_registered/image_rect_raw /emperorcrimson/rgb/image_rect_color /emperorcrimson/depth_registered/sw_registered/image_rect_raw /mista/rgb/image_rect_color /mista/depth_registered/sw_registered/image_rect_raw image_rect_raw /diavolo/rgb/image_rect_color /diavolo/depth_registered/sw_registered/image_rect_raw

5 realsenseki2nect mode 5cams rgb+depth+pc

rosbag record --split --size=4096 -b 0 /speedwagon/rgb/image_rect_color /speedwagon/depth_registered/sw_registered/image_rect_raw /emperorcrimson/rgb/image_rect_color /emperorcrimson/depth_registered/sw_registered/image_rect_raw /mista/rgb/image_rect_color /mista/depth_registered/sw_registered/image_rect_raw /killerqueen/rgb/image_rect_color /killerqueen/depth_registered/sw_registered/image_rect_raw /diavolo/rgb/image_rect_color /diavolo/depth_registered/sw_registered/image_rect_raw /speedwagon/depth/points /speedwagon/depth_registered/points /emperorcrimson/depth/points /emperorcrimson/depth_registered/points /mista/depth/points /mista/depth_registered/points /killerqueen/depth/points /killerqueen/depth_registered/points /diavolo/depth/points /diavolo/depth_registered/points