rawlog_play takes datasets stored in the MRPT rawlog format and publishes it as ROS messages. It supports camera and laser sensors for now.

ROS topics

Subscribes to (name/type):

• (none)

Publishes to (name/type):

• "<SENSOR_LABEL>"/ sensor_msgs/LaserScan : laser scans, where <SENSOR_LABEL1> corresponds to the name actually stored in the dataset. If the dataset contains scans from several scanners, this package will publish several different topics, one for each laser.

services

ROS parameters

This package reads the following parameters from the parameter server:

• "~rawlog_file": [string, optional] The file to read. It can be any MRPT rawlog file, either raw or GZ-compressed. If the parameter is not present this module will no nothing until a service is invoked.