Scripts for Data Collection

Final script

# establish connection
# connect to FORMULA1 password: Formula20
ssh [email protected] -X -C
# press yes if asked
# password: nvidia
su ubuntu
# password: ubuntu
cd ~/Desktop/

# check sd-card
sudo mount /dev/mmcblk1p1 /media/sdcard/
# check once again
cd /media/sdcard/ros_capture
 
# launch camera
cd ~/catkin_ws && source devel/setup.bash
roslaunch zed_wrapper zed.launch &
# you must see:
# ZED (Init) >> Depth mode: PERFORMANCE
# ZED (Init) >> Video mode: HD720@30

# launch lidar
roslaunch velodyne_pointcloud VLP16_points.launch &

# check that ros topics are created
rostopic list
# make sure you get a lot of zed/ and velodyne/ topics
# check that sensors are working:
rostopic echo /zed/right/image_rect_color                   # expect to see a lot of numbers
# check that lidar is working
rostopic echo /velodyne_points                              # expect to see a lot of numbers


cd /media/sdcard/ros_capture/jan5
rosbag record zed/right/image_raw_color/compressed zed/left/image_raw_color/compressed zed/imu/data zed/pose /velodyne_points

# to validate:
rosbag info <name_of_bag>

Camera

# http://wiki.ros.org/zed-ros-wrapper
cd ~/catkin_ws && source devel/setup.bash
roslaunch zed_wrapper zed.launch

# rosrun rviz rviz
# add->topic->...

LIDAR

# http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16

# sudo ifconfig eth0 192.168.3.100
# sudo route add 192.168.1.201 eth0
## check browser http://192.168.1.201

roslaunch velodyne_pointcloud VLP16_points.launch

# rosnode list
# rostopic echo /velodyne_points
# rosrun rviz rviz -f velodyne

Data Recording

cd /media/ubuntu/820cfa8a-d58d-455e-95f3-adc1cae78420/ros_capture

# chmod -R 755 ... ?

rosbag record zed/right/image_rect_color/compressed zed/left/image_rect_color/compressed zed/odom zed/pose /velodyne_points --duration=2m


rosbag record zed/right/image_raw_color/compressed zed/left/image_raw_color/compressed zed/odom zed/pose /velodyne_points --duration=2m

Wi-Fi

# connect to FORMULA1 password:Formula20
ssh [email protected] -X -C'
yes
to turn off:'sudo poweroff'
# can unplug when there is one light