Visible to the public Visualize Task 1 data in MATLABConflict Detection Enabled

Submitted by sprinkle on Fri, 01/20/2017 - 7:08pm

The purpose of this tutorial is to demonstrate how to visualize data from Task 1. In order to execute this tutorial, you will need to have performed a validation of Task 1 (see the Validate your Task 1 archive on the CPS-VO tutorial) installed ROS, and also the Robotics System Toolbox in MATLAB. 

Download your Task 1 ros.bag file

Once you have submitted your validation, you should be able to download the ros.bag file (you will need to rename it from ros.bag.bin to ros.bag). I recommend keeping it in ~/Downloads for now.

Confirm the bag file information

Let's use the ROS cmd line to check out information about the bagfile. You can also do this in MATLAB.

$ rosbag info ~/Downloads/ros.bag
path:        /home/sprinkle/Downloads/ros.bag
version:     2.0
duration:    8:57s (537s)
start:       Jan 20 2017 14:22:48.48 (1484950968.48)
end:         Jan 20 2017 14:31:45.48 (1484951505.48)
size:        81.1 KB
messages:    538
compression: none [1/1 chunks]
types:       geometry_msgs/PolygonStamped [c6be8f7dc3bee7fe9e8d296070f53340]
topics:      detections   538 msgs    : geometry_msgs/PolygonStamped
$

 

Visualize in MATLAB

You should now be able to do some MATLAB visualization. Head over to the Files section and download the file named task1validation.m to your local machine. Open up MATLAB and try to run that file. If you saved your .bag file to ~/Downloads, it will work out of the box (otherwise, adjust the .m file). 

 

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