plotTrajectory

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Directly Read sensor_msgs from rosbag and save them in .txt. Then plot it. This tool is very convenient to plot the SLAM, GPS or other trajectories from rosbag.

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The usage is very simple, you just need to use rosbag record node to record the /SLAM/pose or /GPS sensor_msgs, then :

1. rosbag record /slam/pose /gps/fix
2. set the file path in the loadtxt("/path") in extract_topics_from_rosbag.py
3. python extract_topics_from_rosbag.py
4. python plotTrajectory.py

Then, you can see the trajectory like this:

P.S. If you want to obtain the RMSE, STD, MAE and other error items, I recommend you the evo tool. In addition, I have transfered the KITTI groudtruth file into a general format for MSF error evaluation, namely kitti_00_groudtruth.tum. Note: I recommed you use this groudtruth file, in case you spend lots of time to do the same work as I have done.