把ros下的bag转换成.mat数据

### This pkg is now part of [rosbag_toolkit](https://github.com/neufieldrobotics/rosbag_toolkit) and is moved to rosbag_toolkit/bag2mat, Checkout new version at https://github.com/neufieldrobotics/rosbag_toolkit/tree/master/bag2mat # bag2mat * Takes a rosbag file and converts it to a matlab mat file based on settings specified in a Dictionary and a yaml config file. - Dictonary: The dicionary file specified which variables from each message type should be moved to the matlab array. eg `sensor_msgs/NavSatFix: t.to_sec(), m.latitude, m.longitude, m.altitude` See config/bag2mat_dic.yaml for full example. - Configuration: This file specified which topic names should be transferred to matlab and under which variable name. A list of `-[topic name, message type, name for variable in matfile]` See config/bag2mat_config.yaml for full example. * Currently needs the following packages: - rosbag - roslib - scipy * Put this repo in the src folder of ros workspace and run ``` catkin_make source devel/setup.bash usage: bag2matpy [-h] [-c CONFIG_FILE] [-d DICTIONARY] [-i input_bagfile] ``` ``` Complete List of Arguments: -h, --help show this help message and exit -i INPUT_BAGFILE, --input_bagfile INPUT_BAGFILE Input rosbag file to input -o OUTPUT_DIR, --output_dir OUTPUT_DIR Output dir for matfile -c CONFIG_FILE, --config_file CONFIG_FILE Yaml file which specifies topic names to convert -d DICTIONARY, --dictionary DICTIONARY Dictionary file which specifies how to read the topic -s, --subtract_start_time Boolean flag to specify whether to include offset_time obtained by subtracting bag start_time from all timestamps ```