ROS 1 bags
Generic ROS 1 bag input: not a particular dataset, so this profile only routes the bag(s) and leaves every topic at the launch file’s default. Pass several bags to replay them jointly as one merged stream, which is how per-topic datasets (lidar, /tf and the IMU in separate files) are handled without a launch file of their own.
Running it
Online replay with the 3D GUI:
mola-lo-gui-rosbag1 /path/to/dataset.bag [more .bag files] [additional flags]
Offline batch run, writing a trajectory file:
mola-lo-cli-rosbag1 /path/to/dataset.bag [more .bag files] [additional flags]
Under the hood
Online launch file |
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Offline CLI input |
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Profile source |