robot_localization_tools

ROS package with several tools useful to evaluate a localization system and edit rosbag files.

Localization tools:

• Retrieve the localization error of a robot using the ROS TF

Rosbag tools:

• Extract csv data from rosbags
• Add TF transforms to rosbags
• Edit TF transforms in rosbags
• Remove TF transforms from rosbags
• Remove headers frame_ids leading slash from rosbags
• Add time offset to messages in rosbags and replace the record time with the header time
• Edit CameraInfo messages in rosbags
• Reset IMU rotation in rosbags

Tools to create plots in vector graphics formats (pdf, eps, svgz) using matplotlib:

• Plot graphs from csv files
• Plot 2D robot paths from pose files
• Plot 3D robot paths from pose files
• Plot robot velocity and acceleration graphs from pose files (with Savitzky-Golay filtering)
• Fit probability distributions (normal distribution, lognormal distribution, generalized extreme value distribution) to csv data

Tools to monitor and plot CPU and memory consumptions:

• Save process CPU and memory consumptions to file
• Plot graphs for CPU and memory consumptions of processes

Other tools:

• Publish geometry_msgs::Twist from yaml files (allows a robot to follow a predefined path in Gazebo).
• Monitor ros topics and execute a system command when no msgs are received during a given period.
• Create ROS 2D maps from CAD models.