tartan_forklift/config/av_sensor_export_config.yaml at a7b3f41228310cfce1f608b443c3156fc1237f9a · ipab-rad/tartan_forklift · GitHub

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# Configuration for processing ROS2 bag files

storage_id: "mcap"

# List of topics to extract from the ROS2 bag
topics:
  # Configuration for Pointclouds, defined first to use their timestamp for sensor sync
  - name: "/sensor/lidar/top/points"  # 10Hz
    type: "PointCloud2"
    sample_interval: 1                # 10Hz
    topic_dir: "lidar/top"

  # Configuration for Compressed Images
  - name: "/sensor/camera/fsp_l/image_rect_color/compressed"   # 20Hz
    type: "CompressedImage"
    sample_interval: 1                                         # 20Hz
    topic_dir: "camera/fsp_l"

  - name: "/sensor/camera/fsp_l/camera_info"
    type: "CameraInfo"
    sample_interval: 0
    topic_dir: "camera/fsp_l"

  - name: "/sensor/camera/rsp_l/image_rect_color/compressed"   # 20Hz
    type: "CompressedImage"
    sample_interval: 1                                         # 20Hz
    topic_dir: "camera/rsp_l"

  - name: "/sensor/camera/rsp_l/camera_info"
    type: "CameraInfo"
    sample_interval: 0
    topic_dir: "camera/rsp_l"

  - name: "/sensor/camera/lspf_r/image_rect_color/compressed"  # 20Hz
    type: "CompressedImage"
    sample_interval: 1                                         # 20Hz
    topic_dir: "camera/lspf_r"

  - name: "/sensor/camera/lspf_r/camera_info"
    type: "CameraInfo"
    sample_interval: 0
    topic_dir: "camera/lspf_r"

  - name: "/sensor/camera/lspr_l/image_rect_color/compressed"  # 20Hz
    type: "CompressedImage"
    sample_interval: 1                                         # 20Hz
    topic_dir: "camera/lspr_l"

  - name: "/sensor/camera/lspr_l/camera_info"
    type: "CameraInfo"
    sample_interval: 0
    topic_dir: "camera/lspr_l"

  - name: "/sensor/camera/rspf_l/image_rect_color/compressed"  # 20Hz
    type: "CompressedImage"
    sample_interval: 1                                         # 10Hz
    topic_dir: "camera/rspf_l"

  - name: "/sensor/camera/rspf_l/camera_info"
    type: "CameraInfo"
    sample_interval: 0
    topic_dir: "camera/rspf_l"

  - name: "/sensor/camera/rspr_r/image_rect_color/compressed"  # 20Hz
    type: "CompressedImage"
    sample_interval: 1                                         # 20Hz
    topic_dir: "camera/rspr_r"

  - name: "/sensor/camera/rspr_r/camera_info"
    type: "CameraInfo"
    sample_interval: 0
    topic_dir: "camera/rspr_r"

  - name: "/tf_static"
    type: "TF"
    sample_interval: 1
    topic_dir: "extrinsics"

#  # Configuration for IMU
#   - name: "/sensor/imu/front/data"                            # 200Hz
#     type: "IMU"
#     sample_interval: 1                                        # 200Hz
#     topic_dir: "imu"

#  # Configuration for GPS
#   - name: "/sensor/gps/nav_sat_fix"                           # 20Hz
#     type: "GPS"
#     sample_interval: 1                                        # 20Hz
#     topic_dir: "gps"