UGV_rail_recordings_metro_madrid_Dec_25_1

Ros2 bags with RGB-D streams from 2 intel D435 cameras mounted on UGV. UGV LEDs were turned on during the recording. Info from 2 cameras (top and side). To consume the streams in ROS2 Humble, follow instructions underneath. How to Play the ROS2 Bag Files (ROS 2 Humble) This guide explains how to extract, play, and visualize the provided ROS2 bag files using ROS 2 Humble. 1) Extract the rosbag from the ZIP file Download the provided .zip file.Extract its contents into a local directory (for example):~/bags/ After extraction, you should see a folder similar to: rosbag2_2025_12_19-03_26_19/ Note: In ROS 2, a bag is a directory, not a single file. 2) Environment setup For each terminal you open, run the following commands: source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + daemon reset (only ONCE, not necessary in every terminal) ros2 daemon stop ros2 daemon start 3) Terminal A: Play the rosbag (loop mode) Navigate to the directory containing the rosbag (or use the full path). Start playing the bag in loop mode: source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 bag play rosbag2_2025_12_19-03_26_19 -l 4) Terminal B: Open RViz to visualize topics or use rqt_image_view to visualize streams In a second terminal (after running the environment setup): source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp rviz2 or ros2 run rqt_image_view rqt_image_view 5) Topics of interest Camera 1 /rail_camera_1/color/camera_info /rail_camera_1/color/image_raw /rail_camera_1/color/metadata /rail_camera_1/depth/camera_info /rail_camera_1/depth/color/points /rail_camera_1/depth/image_rect_raw /rail_camera_1/depth/metadata /rail_camera_1/extrinsics/depth_to_color /rail_camera_1/extrinsics/depth_to_depth Camera 2 /rail_camera_2/color/camera_info /rail_camera_2/color/image_raw /rail_camera_2/color/metadata /rail_camera_2/depth/camera_info /rail_camera_2/depth/color/points /rail_camera_2/depth/image_rect_raw /rail_camera_2/depth/metadata /rail_camera_2/extrinsics/depth_to_color /rail_camera_2/extrinsics/depth_to_depth 6) Troubleshooting / sanity checks If RViz does not display data or topics are missing: Check that the bag is publishing topics: ros2 topic list If topics do not appear, restart the ROS 2 daemon in that terminal: ros2 daemon stop ros2 daemon start