#ROSBAG V2.0 Echunk_count=yconn_count=index_pos=SPop= ) size=b compression=noneop=b " topic=/tf conn=op=0 topic=/tfmessage_definition=geometry_msgs/TransformStamped[] transforms ================================================================================ MSG: geometry_msgs/TransformStamped # This expresses a transform from coordinate frame header.frame_id # to the coordinate frame child_frame_id # # This message is mostly used by the # tf package. # See it's documentation for more information. Header header string child_frame_id # the frame id of the child frame Transform transform ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/Transform # This represents the transform between two coordinate frames in free space. Vector3 translation Quaternion rotation ================================================================================ MSG: geometry_msgs/Vector3 # This represents a vector in free space. float64 x float64 y float64 z ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w 'md5sum=94810edda583a504dfda3829e70d7eectype=tf/tfMessage& time= QC* conn=op=y Q30/cameraFront_link/cameraFront_depth_frame{Gz?(topic=/imu/data conn=op= topic=/imu/datamessage_definition=# This is a message to hold data from an IMU (Inertial Measurement Unit) # # Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec # # If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal) # A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source # # If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1 # If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate. Header header geometry_msgs/Quaternion orientation float64[9] orientation_covariance # Row major about x, y, z axes geometry_msgs/Vector3 angular_velocity float64[9] angular_velocity_covariance # Row major about x, y, z axes geometry_msgs/Vector3 linear_acceleration float64[9] linear_acceleration_covariance # Row major x, y z ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w ================================================================================ MSG: geometry_msgs/Vector3 # This represents a vector in free space. float64 x float64 y float64 z 'md5sum=6a62c6daae103f4ff57a132d6f95cec2type=sensor_msgs/Imu& time= QO=?L>2?n@L>O=q=JL> L7IL> +?L> ף?L>e? @L> ףyFL>c/-L>y0˾L> Z@j@L>@L>è?eL>dR@L>@BL>(@ȿL>u|?PL>O=?L>O=q=JL> L7IL> ?L> ףT?L> ףyFL>$ topic=/odom conn=op= topic=/odom| message_definition=# This represents an estimate of a position and velocity in free space. # The pose in this message should be specified in the coordinate frame given by header.frame_id. # The twist in this message should be specified in the coordinate frame given by the child_frame_id Header header string child_frame_id geometry_msgs/PoseWithCovariance pose geometry_msgs/TwistWithCovariance twist ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/PoseWithCovariance # This represents a pose in free space with uncertainty. Pose pose # Row-major representation of the 6x6 covariance matrix # The orientation parameters use a fixed-axis representation. # In order, the parameters are: # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) float64[36] covariance ================================================================================ MSG: geometry_msgs/Pose # A representation of pose in free space, composed of postion and orientation. Point position Quaternion orientation ================================================================================ MSG: geometry_msgs/Point # This contains the position of a point in free space float64 x float64 y float64 z ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w ================================================================================ MSG: geometry_msgs/TwistWithCovariance # This expresses velocity in free space with uncertianty. Twist twist # Row-major representation of the 6x6 covariance matrix # The orientation parameters use a fixed-axis representation. # In order, the parameters are: # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) float64[36] covariance ================================================================================ MSG: geometry_msgs/Twist # This expresses velocity in free space broken into it's linear and angular parts. Vector3 linear Vector3 angular ================================================================================ MSG: geometry_msgs/Vector3 # This represents a vector in free space. float64 x float64 y float64 z 'md5sum=cd5e73d190d741a2f92e81eda573aca7type=nav_msgs/Odometry& time= Q>*, conn=op= Q;%,odom base_link?& time= Q<, conn=op=< Q769,/imu@)_? @@žݿ qU?9RFߑ?9RFߑ?v/?@5@L?`yP?aq range_max should be discarded) float32[] intensities # intensity data [device-specific units]. 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Q` /base_link/cameraRight_link ףp= ǿffffff?? Q` /base_link/base_hokuyo_link{Gz?zG?? Q` /base_link/cameraFront_link?Gz?{U?J? Q` /base_link/base_laser_link{Gz?{Gz??& time= Q˦, conn=op=< Q%,/imu|ۿM?9RFߑ?9RFߑ?v/? W@􈫿 p?aq-/imu@_~@ۿ|?9RFߑ?9RFߑ?v/?`䈿-?aqzۿ?9RFߑ?9RFߑ?v/? ם7?aqȿB#@-C6:?-C6:?-C6:?& time= QZ0 conn=op=< QǷ0/imu `CFaۿ@?9RFߑ?9RFߑ?v/?@sLj?aq@ף@@\B@)\?@<@G:@7@5@333@ף0@)\/@,@+@(@'@%@z$@33#@G!@ @R@p@(@@G@@@Q@= @ff@@@@G@p=@G@zA(AQA@ כ@ףA@@(@5?& time= Q 1 conn=op=w QOA6/cameraRight_link/cameraRight_rgb_frame ףp= ?& time= Q`1 conn=op=< Q7L1/imu@p} i\ۿ`?9RFߑ?9RFߑ?v/?`1Ӣh?aq@9@ 3@)\/@G*@%@33#@%@'@p=*@,@0@1@5@Q8@G:@R>@<@p=:@7@5@\2@ף0@R.@,@G*@(@'@%@z$@33#@G!@ @R@p@(@@p=@@Q@@= @@@@@z@@@@@A33A(AzAG@(@G@p=@A(Ap=?& time= QU7 conn=op=<- Q+$P7/imu`~@@Gۿ?9RFߑ?9RFߑ?v/?`C? ?Ȼaqpy?\$@-C6:?-C6:?-C6:?& time= Q ܨ7 conn=op=<. QO7/imu~,ۿ?9RFߑ?9RFߑ?v/?@1? 7ԇ?@5aq?`J? #@-C6:?-C6:?-C6:?& time= QJ: conn=op=<: Q-H:/imu|@tۿQ?9RFߑ?9RFߑ?v/? 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QAپ2 /base_link/cameraRight_link ףp= ǿffffff?? QAپ2 /base_link/base_hokuyo_link{Gz?zG?? QAپ2 /base_link/cameraFront_link?Gz?{U?J? QAپ2 /base_link/base_laser_link{Gz?{Gz??& time= QI conn=op=< QS|/imu fy`}Qۿ`?9RFߑ?9RFߑ?v/?d] Q?aq@8@ 3@)\/@p=*@%@G!@p@p=@@G@p@ @\"@%@Q(@+@R.@1@5@333@ף0@)\/@,@+@(@'@%@z$@33#@G!@ @R@p@(@@p=@@Q@= @ff@@@z@ @33@\@@@G@G@ף@ff@= @ff@ff@@p=@p=@@G@{A(A& time= Q\_H conn=op=y Qį;/cameraRight_link/cameraRight_depth_frame{Gz?& time= QMR conn=op=< QTN/imu@ y?~ۿ`?9RFߑ?9RFߑ?v/?V=?aqs conn=op=< Qo/imu`y H@Fۿ M?9RFߑ?9RFߑ?v/?@C ~?aqX$ۿ??9RFߑ?9RFߑ?v/?f?1X?aqX#?L>>DL>{L>=?/>L>:@@L>!@L>fKF@Ko\L>*@衿L>6 @—L>,g?}e>L>*?@]L>4(@hML>Y,?@L> D@@L>u@ˬL>:?ذL>'??s>L>>@ @L>}ƹ@ L>>IPL>L>S%@˚L>& time= Q] conn=op= Q! /cameraRight_rgb_frame/cameraRight_rgb_optical_frame??& time= Q conn=op=< QZ/imuzk5ۿw?9RFߑ?9RFߑ?v/?Di?ZB??aq conn=op=< QK}/imu[z@ׂۿ`?9RFߑ?9RFߑ?v/? 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Q+ /base_link/base_laser_link{Gz?{Gz??& time= QrX conn=op=< Q5 /imu +y^.}ۿ?9RFߑ?9RFߑ?v/?`f`R?S}?aq@9@z4@0@+@ff&@!@{@p=@= @z@ @@Q@@p@ף @ #@ff&@)@,@0@R.@,@G*@(@= '@%@z$@\"@ף @ @{@@@G@@@@ff@@@z@ @33@\@@G@G@ף@ף@@@)\@)\@@@@ff@@A@A& time= QU" conn=op=< Q!/imux{S~ۿ`7?9RFߑ?9RFߑ?v/?j]D?I?aqȘ" conn=op=< Q<"/imux@8z_|ۿ?9RFߑ?9RFߑ?v/??k?aqs`mۿS?9RFߑ?9RFߑ?v/?}ī??aqY,?@L> D@@L>u@ˬL>:?ذL>'??s>L>>@ @L>}ƹ@ L>>IPL>L>S%@˚L>]@ʡmL>.@cǕL>3g?L>jFB@NL>2,@}L>.?[g@L>ܬH@]E @L>@XhL>Ʀ @L>|? @L>? >L>D@ @L>W`@L>& time= Q & conn=op= Q,/cameraRight_rgb_frame/cameraRight_rgb_optical_frame??& time= Q' conn=op=< QW'/imu@t&smۿ{?9RFߑ?9RFߑ?v/?`\5?ǚ?aquۿ ?9RFߑ?9RFߑ?v/? 4?@?aqu@ˬL>:?ذL>'??s>L>>@ @L>}ƹ@ L>>IPL>L>S%@˚L>]@ʡmL>.@cǕL>3g?L>jFB@NL>2,@}L>.?[g@L>ܬH@]E @L>@XhL>Ʀ @L>|? @L>? >L>D@ @L>W`@L>CG>0L>]푿L>& time= Q^ - conn=op=< QYp-/imuk QRhۿ@-?9RFߑ?9RFߑ?v/?{lt?L?@ aq@Q8@333@R.@p=*@%@G!@p@@ff@33@ף@{@)\@@@@p=@@ף @33#@ff&@p=*@G*@(@'@%@z$@33#@G!@ @R@p@(@G@p=@@@= @@@z@33@33@\@G@G@ף@ף@ף@)\@)\@)\@)\@R@R@{@@@@@@(A& time= Qx. conn=op=<  Q./imu`h|1f 0ۿ?9RFߑ?9RFߑ?v/?@^? ?#aq̌? ? آaqIPL>L>S%@˚L>]@ʡmL>.@cǕL>3g?L>jFB@NL>2,@}L>.?[g@L>ܬH@]E @L>@XhL>Ʀ @L>|? @L>? >L>D@ @L>W`@L>CG>0L>]푿L>(@]L> 4@oيL>ƾ?L>ه@ㇾL>F@?L>1@PaL>& time= Q22 conn=op=< Q62/imuwb@dd ۿ ?9RFߑ?9RFߑ?v/? ]?E?aq߰?aq2,@}L>.?[g@L>ܬH@]E @L>@XhL>Ʀ @L>|? @L>? >L>D@ @L>W`@L>CG>0L>]푿L>(@]L> 4@oيL>ƾ?L>ه@ㇾL>F@?L>1@PaL>?߁@L>8 @L>@חL>??>L>W?}@L>q@mL>& time= Q28 conn=op= QT/cameraRight_rgb_frame/cameraRight_rgb_optical_frame??& time= Qdl8 conn=op= Q /base_link/cameraBack_link(\ſp= ף?? 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Q2 /base_link/cameraRight_link ףp= ǿffffff?? Q2 /base_link/base_hokuyo_link{Gz?zG?? Q2 /base_link/cameraFront_link?Gz?{U?J? Q2 /base_link/base_laser_link{Gz?{Gz??& time= QK conn=op=< Q /imu@PA9vۿ`k?9RFߑ?9RFߑ?v/? ˥?@7?aq3?`tۿ?9RFߑ?9RFߑ?v/? ~??aqD:?sۿ ?9RFߑ?9RFߑ?v/?`e@?a?aq M@?`rۿW?9RFߑ?9RFߑ?v/?^X`?@?aq/cameraRight_depth_frame /cameraRight_depth_optical_frame??& time= Q,_ conn=op=< Q*\/imu38`G? qۿ?9RFߑ?9RFߑ?v/?\#? X?aqN?nۿ`I?9RFߑ?9RFߑ?v/?`C@R??aq/cameraRight_link/cameraRight_rgb_frame ףp= ?& time= Q|_ conn=op=< Q8}/imu 8\2R?`^kۿ ?9RFߑ?9RFߑ?v/?,ހ@Z?`?aqQ@"@L>O?C{L>?L>)L>N@&@L>պ@L>@{xL>??L>v=@F6L>: @L>tv@5hL>|D ?L>T?5@L>?m>L>9@툆L>f@PL>X@}@L>G?RL>7?xL>IaT@~@L>r@|L>C>2:L>t@l^L>& time= Q conn=op=< QQR/imu@S7B|R?Afۿ L?9RFߑ?9RFߑ?v/?Qg ? ?aq^R?>ۿ?9RFߑ?9RFߑ?v/??@~?`#?aq?aq sonarN@&@L>պ@L>@{xL>??L>v=@F6L>: @L>tv@5hL>|D ?L>T?5@L>?m>L>9@툆L>f@PL>X@}@L>G?RL>7?xL>IaT@~@L>r@|L>C>2:L>t@l^L> @:L>@L>,8?L>D#?@>L>@oL>& time= QE conn=op= Qn~ /base_link/cameraBack_link(\ſp= ף?? 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