# ROS2 bag /qvio

Source: https://forum.modalai.com/topic/3883/ros2-bag-qvio
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2024-10-24 05:13:45 UTC by Aapo_Rei
Replies: 3 · Views: 690

## Aapo_Rei · 2024-10-24 05:13:45 UTC

Hi! I'm using ros2 bag for a project. For now I have successfully recevied and used Imu, image and pointcloud data. Because inaccuracy of imu I would like to use qvio data.
Is there way of ros2 bag recording  qvio? 

/qvio topic publish 2 different messages - PoseStamped and odometry I haven't found any working command for recording qvio. Is there any? I would prefer PoseStamped.

## Reply by Moderator (ModalAI staff) · 2024-10-24 19:57:18 UTC

@Aapo_Rei Hi Aapo, all of the source code is open so folks can extend to suit their needs. We're happy to take merge requests. You could start by looking here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/master/colcon_ws/src/voxl_mpa_to_ros2/src/interface_manager.cpp?ref_type=heads

## Reply by Zachary Lowell 0 · 2024-10-24 22:03:56 UTC

@Moderator said in [ROS2 bag /qvio](/post/19421):
> @Aapo_Rei Hi Aapo, all of the source code is open so folks can extend to suit their needs. We're happy to take merge requests. You could start by looking here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/master/colcon_ws/src/voxl_mpa_to_ros2/src/interface_manager.cpp?ref_type=heads
> 
> Reply

@Aapo_Rei I am a bit confused by your question as qvio technically is a position in space or a combination or PoseStamped and Odometry - so what exactly are you trying to record from qvio that is not in the ros2 message?

## Reply by Aapo_Rei · 2024-10-25 05:17:56 UTC (in reply to Zachary Lowell 0)

@Zachary-Lowell-0 Thanks for the reply!
I ment that I can't record qvio data same way as the other msgs. Trying to record qvio gives me error code like below.

![Screenshot from 2024-10-25 07-58-07.png](https://forum.modalai.com/assets/uploads/files/1729832757233-screenshot-from-2024-10-25-07-58-07.png) 

Still the data can be view like this "ros2 topic echo /qvio geometry_msgs/msg/PoseStamped" And I thought you cloud record this same data, but haven't found a way.
My question is - is there working way to record ros2 bag for qvio and what is it? I'm asking before I start making ros2 node for that.