Added the euroc drone slam tutorial#37
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msadowski
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msadowski
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I skim-read this and left some comments. All in all it looks good but since there is some ROS code, I would appreciate a proper ros package structure that you could build. This could be a ros_ws directory inside the EuRoC_MAV, but ideally it would come with a .gitignore rules that will ignore any build artificats.
The reason why I would push for the proper ROS package is that I really want people to be able to run these examples in 5 minutes without thinking of creating a package from scratch
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| # Visualizing SLAM using Foxglove | |||
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Could you please add a frontmatter section to this README.md? Then it will be nicely rendered in the main README file. You can find more details on the process here: https://github.com/foxglove/tutorials/blob/main/CONTRIBUTING. It would be good if an empty blog post is created for it. This will create a slug that you can turn into a blog post address. You can check other readmes on the process.
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How does this README differ from the target tutorial? We can discuss this with @admfrk, but I was hoping we would have a very worded tutorials on the website, and a minimal tutorial in the README.md that allows you to repro the work in 5 minutes or less (ideally provide the commands to run to create or visualize the dataset).
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| # This script is used to convert the Euroc dataset to MCAP format | |||
| # Author: Carson Kohlbrenner | |||
| # Date: 2025-06-27 | |||
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Any chance you could remove the comments here to align with other tutorials? The author data will be preserved in git and github if anyone needs this information.
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Is this file needed? What value does it add over what can README contain?
| writer = foxglove.open_mcap(out_mcap_path, allow_overwrite=True) # Open the mcap file for writing | ||
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| # Define the schemas for our topics | ||
| # get the .msg file that ROS installs |
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Can you plz remove the commented out code if it's not useful?
| from rclpy.serialization import serialize_message | ||
| from pathlib import Path | ||
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| def getImageMsg(img_path: str, timestamp: int, cam_num: int) -> Image: |
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Could you please use consistent naming scheme across the source code? Ideally following PEP8 and consistent approach to static typing
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I appreciate the in depth comments! I know what to look out for next time. I'll fix this up asap |
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I believe I addressed all of your comments, as well as improved the package to be easier to run with a couple CLI commands. I tested this repo out on a fresh Ubuntu flash and I ran into no problems |
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Thanks! It looks great to me! Will this one come with a blog post? If yes, it would be great to create the blog post with CMS and add the Are you able to create a blogpost or will we need @admfrk 's help? |
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@admfrk is helping me out with the blog post this time I believe. I'm happy to keep this open until I get the link to put in the README |
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@admfrk I am also happy to take on publishing this blog myself with a little bit of guidance! |
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| title: "EuRoC MAV Dataset in Foxglove" | ||
| short_description: "Drone SLAM of the MH01 Environment from EuRoC MAV" | ||
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One more thing: once this suggestion is merged, can you please regenerate the readme so that the blog post is linked in the main readme?
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Updated the README. I think it should be all set. Thanks for the help @msadowski |
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Tutorial blog post currently in progress.
Description
Added Carson Kohlbrenner's work trial project converting the EuRoC MAV dataset into a MCAP SLAM visualization.