Questions about simulating tracking program

[toshiyukiandou]

I am trying to experiment a rope tracking by using source codes of "https://github.com/hojonathanho/bulletsim/tree/tracking-release".

My procedures are as follows:

1. I have done the following procedure written in README and cofirmed that some files (such as tracker_node) are copied to the /build/binary_symlinks/bin.

   for node in $BULLETSIM_BUILD_DIR/bulletsim/bin/* ; do ln -s $node ; done

2. I have downloaded your bag files from http://rll.berkeley.edu/tracking/ and put them to my directory.

3. I want to simulate a rope tracking by using your unknot_*.bag.

Q1. To simulate a rope tracking by using your bag files, I must execute the following commad on the terminal. Is it correct ?

 $BULLETSIM_BUILD_DIR/bulletsim/bin/tracker_node --cameraTopics=kinect1
 roslaunch point_clouds.launch online:=false filename:=sample_rope

Q2. There are some bag files in the rope directory(for example, unknot_raw.bag and unknot_preprocessor.bag), which bag file should be specified to simulate it ?

Q3. To experiment a rope tracking by using my recorded bag file, what should I do ?