Example Bags

Some example bags are stored in our Google Drive and can be accessed here*. These bags were captured during our couple of runs at IGVC 2026. Four bags are available: first_run, first_run_reduced, second_run, and second_run_reduced. The reduced versions include a small subset of the more interesting topics from the full list to reduce file size. The list of included topics is:

Category	Topics
TF	/tf, /tf_static, /robot_description
Odometry	/fusion/odom, /fusion/pose, /diff_cont/odom, /joint_states
IMU	/esp/imu
GNSS	/gnss/fix, /ntrip_client/rtcm
LiDAR	/scan_filtered, /velodyne_points, /depth_camera/filtered/points
cmd_vel	/diff_cont/cmd_vel
Nav2	/plan, /local_costmap/costmap, /global_costmap/costmap, /local_costmap/published_footprint, /global_costmap/published_footprint
Depth Camera	/zed/zed_node/rgb/color/rect/image, /zed/zed_node/point_cloud/cloud_registered

Setup Instructions

Follow these instructions to get started:

IMPORTANT

• Ensure your environment has been set up, and your workspace has been sourced by completing the instructions in the ros_ora26 README.
• Also ensure you have zstd installed to extract the bag. You can install it with:

  sudo apt install zstd

1. Make a directory to save your bags to:

mkdir ~/bags && cd ~/bags

2. Choose a bag from the Google Drive folder* and download it to that location.
3. Extract the bag with this command:

tar --zstd -xf <bag_name>.tar.zst

4. Verify everything looks correct with the info command. You should see an output similar to this:

ros2 bag info <bag_name>

Files:             first_run_0.mcap
Bag size:          12.9 GiB
Storage id:        mcap
ROS Distro:        jazzy
Duration:          1780338829.192156265s
Start:             Dec 31 1969 19:00:00.000870514 (0.000870514)
End:               Jun  1 2026 14:33:49.193026779 (1780338829.193026779)
Messages:          4447154
Topic information: Topic: /behavior_server/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
                   Topic: /behavior_tree_log | Type: nav2_msgs/msg/BehaviorTreeLog | Count: 23 | Serialization Format: cdr
                   ...
                   <Topic list truncated for brevity>

5. Play the bag:

ros2 bag play <bag_name>

*You may need to be added to the Shared Drive first - ask an E-board member for help with this.