TBD.Psi.RosBagStreamReader - v1

[xiangzhi]

Work with ROS 1 bags and want to use \Psi for analysis or visualize data in PsiStudio? This is the component you want!

TBD.Psi.RosBagStreamReader

This components by CMU TBD Lab implements the 3rd party stream reader interface for ROS 1 bag files. It converts known ROS messages into corresponding Psi Messages.

Because there is no perfect 1-to-1 correspondence between ROS Messages and Psi Stream Types, we created custom deserializers that converts them based on what they are intended for. The following is what we currently support

Supported Messages

ROS Message Type	Deserialized Psi Types	Notes
std_msgs/String	string
std_msgs/Bool	bool
sensor_msgs/Image	Shared<Image>	Only some formats are supported
sensor_msgs/CompressedImage	Shared<Image>	Only some formats are supported
geometry_msgs/PoseStamped	MathNet.Spatial.Euclidean.CoordinateSystem
geometry_msgs/Pose	MathNet.Spatial.Euclidean.CoordinateSystem
geometry_msgs/Transform	MathNet.Spatial.Euclidean.CoordinateSystem
geometry_msgs/TransformStamped	MathNet.Spatial.Euclidean.CoordinateSystem
geometry_msgs/Quaternion	MathNet.Spatial.Euclidean.Quaternion
geometry_msgs/Vector3	MathNet.Spatial.Euclidean.Vector3D
audio_common_msgs/AudioData	AudioBuffer
tf2/TFmessage	tbd.psi.TransformationTree

There are more ROS topic messages types out there and you might even have your own custom messages. We created a easy interface and guide to create your own deserializers. Please contribute back to the main repository if you think it might be useful for others!

How to use it?

1. Clone our repository and build it.
2. If you are using it in PsiStudio, please follow the guide to enable 3rd party visualizers and add the compiled dll.
3. If you are using it in your Psi project in Visual Studio, reference this project.

Other

Notes on Implementation.

• ROS doesn't have the notion of an originating time, instead each message stores the time it is created when it is being saved in a RosBag. However, for classes that contains a header, the time listed inside is often used by ROS programs as its originating time. Each deserializer has an parameter to toggle whether both times are the same or to use the header time as originating time.
• The component is built with the latest version of the Psi Nuget packages.
• It does not currently rely on Psi's ROS component, but we are exploring the possibility of using it to convert messages in the future.
• We intend to keep this post up-to-date if there is any changes to the component.

This work is partially funded under a grant from the National Institute on Disability, Independent Living, and Rehabilitation Research (NIDILRR grant number 90DPGE0003). NIDILRR is a Center within the Administration for Community Living (ACL), Department of Health and Human Services (HHS). The contents of here do not necessarily represent the policy of NIDILRR, ACL, HHS, and you should not assume endorsement by the Federal Government.