Realsense D435采集图像后的rosbag,在rgbdslam_v2使用时不能正常运行。排查掉很多原因后,将矛头指向自己采集的bagfile信息。
在http://wiki.ros.org/bag_tools中,能找到
change_camera_info.py
change_camera_info.py usage: change_camera_info.py [-h] inbag outbag replacement [replacement ...] Change camera info messages in a bagfile. positional arguments: inbag input bagfile outbag output bagfile replacement replacement in form "TOPIC=CAMERA_INFO_FILE", e.g. /stereo/left/camera_info=my_new_info.yaml optional arguments: -h, --help show this help message and exit
准备修改包的frame id,问题是,发现完整版的ros似乎没有安装bag_tools?什么回事呢?