AFRL Utils

Python Scripts

This folder contains python scripts that are used for various tasks that do not need to run as ros nodes. The README.md file inside the folder contains more information on the scripts in that folder.

The scripts that import rospy or rosbag are legacy ROS 1 utilities and are not installed as part of this ROS 2 package. Run those scripts in a compatible ROS 1 environment. Their additional Python dependencies are OpenCV, NumPy, and tqdm (python3-opencv, python3-numpy, and python3-tqdm on Ubuntu).

ROS2 Package

Prerequisites

• Ubuntu 24.04 with ROS 2 Jazzy (verified)
• Eigen3
• OpenCV

Install ROS 2 first by following the official installation guide, then install the package dependencies:

source /opt/ros/jazzy/setup.bash
sudo apt-get update

# ROS 2 dependencies
sudo apt-get install -y \
    ros-$ROS_DISTRO-ament-cmake \
    ros-$ROS_DISTRO-rclcpp \
    ros-$ROS_DISTRO-geometry-msgs \
    ros-$ROS_DISTRO-sensor-msgs \
    ros-$ROS_DISTRO-cv-bridge \
    ros-$ROS_DISTRO-image-transport \
    ros-$ROS_DISTRO-message-filters \
    ros-$ROS_DISTRO-tf2 \
    ros-$ROS_DISTRO-tf2-ros \
    ros-$ROS_DISTRO-rosbag2-cpp \
    ros-$ROS_DISTRO-rosbag2-storage-default-plugins \
    ros-$ROS_DISTRO-ros2launch

# System development libraries
sudo apt-get install -y \
    libeigen3-dev \
    libopencv-dev

Build

mkdir -p ~/utils_ros2_ws/src 
cd ~/utils_ros2_ws/src
git clone https://github.com/AutonomousFieldRoboticsLab/utils_ros2.git
cd ..
source /opt/ros/jazzy/setup.bash
colcon build --packages-select utils_ros2 --symlink-install
source ~/utils_ros2_ws/install/setup.bash # Or add this to ~/.bashrc to make it permanent

Usage

Extract Keyframes

To extract keyframes from a ros2bag, run the following command:

ros2 launch utils_ros2 write_keyframe_images.xml bag_file:=bag_file image_dir:=dir_to_save_images traj_file:=VIO_trajectory_file config_file:=camera config file

Note: By default, the keyframes are undistorted. The reason being COLMAP undistortion changes image size in an effort to maximize information from images.

The gopro config files are inside the config/gopro folder.

Check the launch file for additional parameters.