UGV_environment_recordings_metro_madrid_Dec_25

Ros2 bags with RGB streams from ZED X cameras mounted on UGV. UGV LEDs were turned on during the recording. Info from 3 cameras (front, back and poiting towards wall). In the left camera pointing at the wall you can see km points in some recordings. The front and back cameras point at workers. To consume the streams in ROS2 Humble, follow instructions underneath. ROS 2 Humble — Play a Zenoh-recorded rosbag 0) Extract rosbags (each rosbag is a directory, not a single file) 1) Install zenoh (only once) sudo apt update sudo apt install -y ros-humble-rmw-zenoh-cpp 2) Terminal 1 — Zenoh router + daemon reset (ONCE) # This terminal defines the RMW used by the ROS 2 CLI. source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp # Reset ROS 2 CLI daemon ONCE ros2 daemon stop ros2 daemon start # Start Zenoh router ros2 run rmw_zenoh_cpp rmw_zenohd Leave this terminal running. 3) Terminal 2 — play the rosbag in loop source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 bag play /path/to/rosbag2_YYYY_MM_DD-HH_MM_SS -l 4) Terminal 3 — verify topics source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 topic list RGB images: /zed_multi/robot_zed_back/stereo/image_rect_color /zed_multi/robot_zed_front/stereo/image_rect_color /zed_multi/robot_zed_left/stereo/image_rect_color 5) Terminal 4 — run rqt to visualize streams source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run rqt_image_view rqt_image_view