Octanis 1 Mission Data Treatment

This repository is home to a catkin workspace containing various packages used to extract and/or process information collected during the Octanis 1 rover mission to Antarctica. The source format is rosbag which stores all topics that run on the rover's single board computer.

ROS Nodes

• data_extraction
• mavlink_conversion
• stereocamera_export
  • saves "/stereo/[right,left]_cam/image_raw" to a folder as JPG
  • run "rosrun stereocamera_export exporter.py destination_folder rosbag_filename"

ROS Bags

Some rosbags had to be reindexed for replay. All mission rosbags were prepended a letter for quick reference, the original pseudo-date in the filename was kept. (Pseudo-date due to the linux system time not being in-sync with GPS time).

• A_2016-09-19-13-24-36_0.bag / size=1.94GB,duration=1446s
  • image extract (jpg): https://drive.google.com/drive/folders/0Bwa66ZQR4ocHd283OEk0Sm1Ya0k?usp=sharing
• B_2016-09-19-08-28-16_0.bag / size=1.56GB,duration=1364s
• C_2016-09-19-14-23-54_1.bag / size=854MB,duration=657s
• D_2016-09-19-13-53-54_0.bag / size=2.53GB,duration=1794s
  • image extract (jpg): https://drive.google.com/file/d/0Bwa66ZQR4ocHV2xpajVDNDNuUVE/view?usp=sharing
• E_2016-09-19-13-02-22_0.bag / size=1.5GB,duration=1102s
• F_2016-09-19-12-52-19_0.bag / size=402MB,duration=301s
• G_2016-09-19-08-56-13_0.bag / size=408MB,duration=334s
• H_2016-09-19-08-02-25_0.bag / size=931MB,duration=795s
• I_2016-09-19-07-18-47_0.bag / size=50MB,duration=26s

Total recorded time: 7829s

For ROS catkin workspace: Quickstart

1. Clone this repository to the ROS Indigo VM
2. Run catkin_make
   • If a package is not compiling, ignore it with: catkin_make -DCATKIN_BLACKLIST_PACKAGES="mavlink_conversion"

ROS troubleshooting

• "CMake Error at ... Could not find a package..." -> library is missing, look for it via "sudo apt-cache search ros-indigo yourMissingLibrary"

data_extraction script (listener.cpp)

Writes data contained in a rosbag to CSV files for further analysis. For this, run the script while you are playing the rosbag from which you want to extract the data. If you need to write additional topics to file which are not currently covered by the script, you can add them in the script following the provided structure. Read more here: https://github.com/Octanis1/data_treatment/blob/master/documentation_data_extraction-r_datatreatment.pdf

r_datatreatment script

Reads the CSV files which can be generated with the data_extraction script and provides different plots (time line, box plot, QQ plot). Read more here: https://github.com/Octanis1/data_treatment/blob/master/documentation_data_extraction-r_datatreatment.pdf