生成自己的rosbag运行轨迹文件用EVO绘制

• 一、EVO安装
• 二、rosbag轨迹生成
• • 2.1 修改laserMapping.cpp代码
  • 2.2 运行roslaunch+rosbag
  • 2.3 EVO绘制

一、EVO安装

pip install evo --upgrade --no-binary evo

依赖问题自行添加解决

二、rosbag轨迹生成

2.1 修改laserMapping.cpp代码

找到文件改代码
（我自己的）代码路径：/home/flycar/aloam_ws/src/A-LOAM/src/laserMapping.cpp

-----------源代码------------nav_msgs::Odometry odomAftMapped;odomAftMapped.header.frame_id = "/camera_init";odomAftMapped.child_frame_id = "/aft_mapped";odomAftMapped.header.stamp = ros::Time().fromSec(timeLaserOdometry);odomAftMapped.pose.pose.orientation.x = q_w_curr.x();odomAftMapped.pose.pose.orientation.y = q_w_curr.y();odomAftMapped.pose.pose.orientation.z = q_w_curr.z();odomAftMapped.pose.pose.orientation.w = q_w_curr.w();odomAftMapped.pose.pose.position.x = t_w_curr.x();odomAftMapped.pose.pose.position.y = t_w_curr.y();odomAftMapped.pose.pose.position.z = t_w_curr.z();pubOdomAftMapped.publish(odomAftMapped);-----------添加代码------------//***add evo***////根据自己的文件存放位置修改路径和文件名std::ofstream pose1("/home/flycar/aloam_ws/src/A-LOAM/data1/college.txt", std::ios::app);pose1.setf(std::ios::scientific, std::ios::floatfield);//保存结果的精度，可调pose1.precision(6);//static double timeStart = odometryBuf.front()-> header.stamp.toSec();//auto T1 = ros::Time().fromSec(timeStart);pose1 << odomAftMapped.header.stamp << " "<< odomAftMapped.pose.pose.position.x << " "<< odomAftMapped.pose.pose.position.y << " "<< odomAftMapped.pose.pose.position.z << " "<< odomAftMapped.pose.pose.orientation.x << " "<< odomAftMapped.pose.pose.orientation.y << " "<< odomAftMapped.pose.pose.orientation.z << " "<< odomAftMapped.pose.pose.orientation.w << std::endl;pose1.close();//***add evo***//

2.2 运行roslaunch+rosbag

编译后运行

catkin_make
source devel/setup.bash
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch

新建终端

rosbag play college.bag

就可以在路径下看到txt文件的生成，存放了tum格式的轨迹，包括时间戳，位置，姿态四元数。这里用的tum格式。

2.3 EVO绘制

cd /home/flycar/aloam_ws/src/A-LOAM/data1evo_traj tum college.txt -p

其他命令
指标：
evo_ape- 绝对姿势错误
evo_rpe- 相对位姿误差

工具：
evo_traj- 用于分析、绘制或导出一条或多条轨迹的工具
evo_res- 用于比较一个或多个结果文件的工具 evo_ape或者 evo_rpe
evo_fig-（实验性）用于重新打开序列化图的工具（保存为 --serialize_plot)
evo_config- 全局设置和配置文件操作工具