<<PackageHeader(mrpt_rawlog)>>
<<TOC(4)>>

== Description ==

This package provides two nodes: 

  * `mrpt_rawlog/rawlog_record_node`: Grabs [[http://www.mrpt.org/Rawlog_Format|MRPT rawlogs]] from ROS topics.
  * `mrpt_rawlog/rawlog_play_node`: Like `rosbag play` but takes [[http://www.mrpt.org/Rawlog_Format|MRPT rawlogs]] as input.

Provided examples: 

{{{
roslaunch mrpt_rawlog demo_play.launch
}}}

See [[https://github.com/mrpt-ros-pkg/mrpt_navigation/blob/master/mrpt_rawlog/launch/demo_play.launch|demo_play.launch]] online.

{{{
roslaunch mrpt_rawlog demo_record.launch
}}}

See [[https://github.com/mrpt-ros-pkg/mrpt_navigation/blob/master/mrpt_rawlog/launch/demo_record.launch|demo_record.launch]] online.

Apart from these nodes, the following non-ROS software exists for handling rawlogs:

 * [[http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/|RawLogViewer]]: A powerful GUI, useful to quickly visualize the contents of any dataset, modify it, export and import to other formats, etc... See [[http://www.youtube.com/watch?v=RZhMZWRplO0|this video]] on how a RGBD (Kinect) dataset is quickly browsed in this GUI.
 
 * [[http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/|rawlog-grabber]]: A command-line standalone program to grab observations from a number of sensors and put all together into a single timestamp-ordered dataset file. Works on GNU/Linux and Windows.

 * [[http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/|rawlog-edit]]: A command-line equivalent of RawlogViewer for manipulating, filtering, etc. datasets.

 * [[http://www.mrpt.org/list-of-mrpt-apps/applicationcarmen2rawlog/|carmen2rawlog]]: A command-line tool to import CARMEN logs as Rawlog datasets.

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
 name = rawlog_play_node
 desc = The `rawlog_play_node` node parses a Rawlog file and emit its messages as `rosbag play`.
 pub {
   0{
    name = tf
    type = tf/tfMessage
    desc = Poses of the different sensors and odometry.
   }
  }

 param{
    0.name = ~base_frame
    0.type = string
    0.default = `"base_link"`
    0.desc = The frame attached to the mobile base.
  }

 prov_tf{
  0{
    from = map
    to = odom
    desc = XXX
  }
 }
}}}

{{{
#!clearsilver CS/NodeAPI
 name = rawlog_record_node
 desc = The `rawlog_record_node` node subscribes to topics and writes a Rawlog file, like `rosbag record`.
 pub {
   0{
    name = tf
    type = tf/tfMessage
    desc = Poses of the different sensors and odometry.
   }
  }

 param{
    0.name = ~raw_log_folder
    0.type = string
    0.default = `"~/"`
    0.desc = The output directory in which to store rawlogs.
  }
}}}
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