pntos-cobra-datasets-lcm

This repository contains an LCM log for Cobra:

cobra_gps_ins_example_data.log is based off of 2025_05_19_route07.log. Specifically, it contains a subset of the following channels:

• /sensor/bmp388/baro_pressure
• /sensor/ins-d/pva
• /sensor/ublox-ZED-F9T/position
• /sensor/ublox-ZED-F9T/velocity
• /sensor/ublox-ZED-F9T/pva
• /sensor/simulated/velocity
• /sensor/vn-100/imu

The example log can be recreated from the original log using generate_example_dataset.py. To run this script the necessary python environment must be set up.

Python Environment Setup

Create clean venv:

python3 -m venv .venv --prompt pntos-cobra-datasets

Source the virtual environment (bash/zsh):

source .venv/bin/activate

Upgrade pip (recommended):

pip install --upgrade pip

Install dependencies via requirements.txt:

pip install -v -r requirements.txt --extra-index-url=$UV_INDEX

Generating New Log

Generating a log can be done by:

pntos_cobra_datasets/generate_example_dataset.py <path_to_logfile>