lcm_to_ros

This program converts LCM messgaes to ROS messages. Currently, it supports only image and imu messages.

Prerequisites

Before you begin, ensure you have met the following requirements:

• You have a Linux machine.
• lcm 1.4.0
• ros-melodic
  • catkin is included by default when ros is installed
• [OpenCV]

Installing

To install the project, follow these steps:

cd ~/catkin_ws/src # go to src directory of your catkin work space
git clone https://github.com/saiprakash-c/lcm_to_ros.git
cd ../ # go to your catkin workspace
catkin build lcm_to_ros
source devel/setup.bash

Usage

To use lcm_to_ros to convert a lcm log file to a ros bag file, follow these steps:

1. Set the lcm channel names and ros topic names in config/config.yaml
2. Launch the lcm_to_ros.launch file as follows

cd ~/catkin_ws # go to your catkin workspace
roslaunch lcm_to_ros lcm_to_ros.launch 

3. Record ros messages to a bag file

rosbag record -O <ros_bag_file_name> <topic_names> 

<topic_names> are the names of the topics you want to record. For ex. if you want to capture only imu messages, use

rosbag record -O <ros_bag_file_name> /imu0

4. Run your lcm log file

lcm-logplayer-gui -p <lcm_log_file>

5. Play your log file by pressing the play button when you want to record.

Contact

You can reach me at [email protected]