## repository: https://github.com/ccny-ros-pkg/scan_tools.git
<<PackageHeader(ncd_parser)>> <<TOC(4)>>

{{attachment:ncd_parser.png}}

== Details ==

The [[ncd_parser]] package reads in .alog data files from the New College Dataset and broadcasts the data in ROS. The messages are broadcast in real time. Currently, the data extracted includes the odometry of the robot and the readings from the left and right SICK laser scanners. Additional transforms are provided between the odometric frame and the two lasers, as described in the NCD paper.

To use the [[ncd_parser]], you need to obtain an .alog file from the New College Dataset [[http://www.robots.ox.ac.uk/NewCollegeData/ | website]].

== Example ==

You can run the [[ncd_parser]] on a small .alog file included in the package for demo purposes. First, make sure you have the [[scan_tools]] stack downloaded and installed by following the instructions [[scan_tools#Installing|here]].

Next, make sure you have the necessary tools installed:

{{{
#!shell
rosmake rviz
}}}

Finally, run the demo:

{{{
#!shell
roslaunch ncd_parser demo.launch
}}}

You should see a result similar to the video below. 

<<Youtube(5Im-PNR_zI4)>>

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
 name = ncd_parser
 desc = The `ncd_parser` node treads in .alog data files from the New College Dataset and broadcasts the data in ROS.
pub {
   0{
    name = scan_left
    type = sensor_msgs/LaserScan
    desc = The scan from the left SICK laser range-finder.
   }
   1{
    name = scan_right
    type = sensor_msgs/LaserScan
    desc = The scan from the right SICK laser range-finder.
   }
  }

param{
    0.name = start
    0.type = double
    0.default = `0.0`
    0.desc = the start of the broadcast, in seconds. Messages in the .alog file prior to the start time are skipped.

    1.name = end
    1.type = double
    1.default = `-1.0`
    1.desc = the end of the broadcast, in seconds. Messages in the .alog file after to the end time are skipped. If set to `-1`, all messages in the file will be played. 

    2.name = rate
    2.type = double
    2.default = `1.0`
    2.desc = the rate of publishing messages. `1.0` sets the rate to real-time.
  }

 prov_tf{
  0{
    from = map
    to = odom
    desc = the robot odometry reported in the .alog file
  }
  1{
    from = odom
    to = laser_left
    desc = pose of the left SICK laser in the robot frame
  }
  2{
    from = odom
    to = laser_right
    desc = pose of the right SICK laser in the robot frame
  }

}}}


== Acknowledgements ==

`QuadTree_Alog.alog` used with the permission of Dr. Paul Newman, Oxford University.

M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, The new
college vision and laser data set, International Journal for Robotics
Research (IJRR), vol. 28, no. 5, pp. 595599, May 2009.

== Bug Reports & Feature Requests ==

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through [[https://github.com/ccny-ros-pkg/scan_tools/issues/|github]] (requires github account) or by emailing the maintainers.

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