Error converting ROS2 bag to NuScenes

[Zakhar02]

terminate called after throwing an instance of 'pcl::IOException'
  what():  : [pcl::PCDWriter::writeBinary] Error during open!

how can be reproduced: ./rosbag2nuscenes ../../bag/ ../conf.yml /workspace/src/rosbag2nuscenes/NuScenes/ 8
C++17

[Zakhar02]

I suppose the problem is in SensorDataWriter.cpp::25, pcl::io::raw_open returns -1

[john-chrosniak]

Sorry for the delayed response! Could you paste the output of ros2 bag info <path to bag>?

[Zakhar02]

[Zakhar02]

Turned out it is throwing No plugin found providing serialization format 'cdr'. Error, as mentioned in #13

[Bungehurst]

Turned out it is throwing No plugin found providing serialization format 'cdr'. Error, as mentioned in #13

This warning can be ignored. After checking the config file, I find the topic name of the dataset is not consistant with the 'mit.yaml'. When I change it to the right one, the program runs well.

[Zakhar02]

That's right, the problem is database opens in READ_ONLY mode

[john-chrosniak]

Opening with read only is fine since the library does not write back to the ROS bag. Could you include your conf.yml file?

[Zakhar02]

BAG_INFO:
  TEAM: Self.AI
  DESCRIPTION: SK
  ODOM_TOPIC: /reaper/odom
  TRACK: IMS
  URDF: urdf/mark3.urdf
SENSOR_INFO:
  LIDAR_FRONT:
    TOPIC: /bnk/top/points
    FRAME: robot_base
  # LIDAR_LEFT:
  #   TOPIC: /robosense/left/points
  #   FRAME: robot_base
  # LIDAR_RIGHT:
  #   TOPIC: /robosense/right/points
  #   FRAME: robot_base
  CAMERA_FRONT:
    TOPIC: /stereo/center/image_raw_unsync/compressed
    FRAME: robot_base
    CALIB: /stereo/center/camera_info_raw

[john-chrosniak]

This looks fine to me. Does this same error happen if you use the provided instructions for docker instead of building locally?

[Zakhar02]

I am getting SegFault, actually I've visualized urdf file, all frames are present

[Zakhar02]

The picture above is the output of docker run

[john-chrosniak]

I'm afraid I can't help debug this further without access to the bag file. If this is something you are comfortable sharing, could you upload the bag file and the yaml configuration to a file share site so I can test?

[john-chrosniak]

I just tested with the data you shared. There were two issues:

1. In param.yaml, the FRAME for each sensor needs to match the frame_id messages are sent on in the ROS2 bag. Instead of robot_base, this needs to be lidar_top/os_sensor for LIDAR_FRONT and center for CAMERA_FRONT. I realize the documentation isn't very clear on this, so I'll work on making it a bit more thorough.
2. The frames that your sensors are publishing on (lidar_top/os_sensor and center) are not in the URDF you shared, so it is not possible to transform these to a common frame. You will need to create a URDF that has the transformations from these frames to your odometry frame (i.e. robot_base) to use the tool.