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本数据集为搭载于无人地面车辆（Unmanned Ground Vehicle, UGV）上的ZED X相机采集的RGB数据流ROS 2包（rosbag）。录制过程中开启了无人地面车辆的LED指示灯。数据采集自三台相机，分别为前视相机、后视相机以及朝向墙面的相机。在部分录制文件中，朝向墙面的左侧相机画面内可看到里程标记点。前视与后视相机的拍摄对象为作业人员。若需在ROS 2 Humble版本中读取该数据流，请遵循下述操作步骤。 ROS 2 Humble 版本 — 播放Zenoh录制的ROS包（rosbag） 0) 解压ROS包（rosbag）（每个ROS包为目录格式，而非单个文件） 1) 安装Zenoh（仅需执行一次） sudo apt update sudo apt install -y ros-humble-rmw-zenoh-cpp 2) 终端1 — 启动Zenoh路由器并重置ROS 2守护进程（仅需执行一次） # 此终端用于配置ROS 2命令行工具所使用的RMW中间件 source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp # 重置ROS 2命令行工具守护进程（仅需执行一次） ros2 daemon stop ros2 daemon start # 启动Zenoh路由器 ros2 run rmw_zenoh_cpp rmw_zenohd 保持此终端持续运行。 3) 终端2 — 循环播放ROS包（rosbag） 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 注：`-l` 参数表示启用循环播放模式，`/path/to/rosbag2_YYYY_MM_DD-HH_MM_SS` 需替换为实际的ROS包路径。 4) 终端3 — 验证ROS话题列表 source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 topic list RGB图像对应话题如下： /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) 终端4 — 启动rqt图像查看器可视化数据流 source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run rqt_image_view rqt_image_view