mola_traj_tools
CLI tools to manipulate trajectory files as a complement to the evo package
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README
mola_traj_tools
CLI tools to manipulate trajectory files as a complement to evo.
Build and install
Refer to the root MOLA repository for compilation instructions.
To install from the ROS repositories:
sudo apt install ros-${ROS_DISTRO}-mola-traj-tools
Documentation
traj_ypr2tum
This tool can be used to convert a TXT file with a trajectory in this format:
# t [unix timestamp, double] x y z [meters] yaw pitch roll [radians]
t x y z yaw pitch roll
into the TUM format.
Usage:
traj_ypr2tum INPUT.ypr OUTPUT.tum
traj_tf
This tool takes an input trajectory file in the TUM format, a SE(3) transformation, and applies it to the input, writing the modified trajectory to an output file.
Usage:
traj_tf INPUT.tum OUTPUT.tum "[x y z yaw_deg pitch_deg roll_deg]"
License
This package is released under the BSD-3-clause license.