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kitti2rosbag2 package from kitti2rosbag2 repokitti2rosbag2 |
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | Apache |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/bharadwajsirigadi/kitti2rosbag2.git |
VCS Type | git |
VCS Version | direct-recording |
Last Updated | 2024-03-22 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
KITTI odometry to ROS2 bag converter
Additional Links
No additional links.
Maintainers
- bharadwajsirigadi
Authors
No additional authors.
kitti2rosbag2
is designed to convert the KITTI Odometry dataset to ROS2 bag format, emphasizing manual control over message publishing and bag recording.
KITTI car setup
Image source: (https://www.cvlibs.net/datasets/kitti/)
Usage
1. Clone Repository
cd ~/ros2_ws/src
git clone https://github.com/bharadwajsirigadi/kitti2rosbag2.git
2. Parameters Input
Open params file </br>
Update following tags.
kitti_pub:
ros__parameters:
sequence: <sequence_no> #Integer
data_dir: '<dataset_dir>'
odom_dir: '<data_odometry_poses_dir>'
bag_dir : '<bag_dir>/<bag_name>'
odom : [True/False]
Example: Converts kitty dataset to rosbag2.
Download data_odometry_poses from here
kitti_rec:
ros__parameters:
sequence: 0
data_dir: '/home/user_name/Download/data_odometry_gray/dataset/'
odom_dir: '/home/user_name/Download/data_odometry_poses/dataset/'
bag_dir : '/home/user_name/Download/00_bag'
odom : True
3. Building Package
cd ~/ros2_ws
colcon build --packages-select kitti2rosbag2 --symlink-install
4. Converting to bag
` ros2 launch kitti2rosbag2 kitti2rosbag2.launch `
KITTI Odometry Dataset Folder Structure
ROS Topics Info
-
car/base/odom
–> Odometry of Car. -
car/base/odom_path
–> Ground Truth path of Car. -
camera2/left/image_raw
–> Color Images from Left Camera. -
camera3/right/image_raw
–> Color Images from Right Camera. -
camera2/left/camera_info
–> Left Camera Information. -
camera3/right/camera_info
–> Right Camera Information.
Requirements
- Python 3.x
- ROS2 installed(tested on ROS2 humble)
Note
Ground Truth-Odometry data is available for sequences(1-10) in KITTI dataset.
Contributors
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name |
---|---|
ament_copyright | |
ament_flake8 | |
ament_pep257 | |
rclpy | |
geometry_msgs | |
nav_msgs | |
visualization_msgs | |
rosbag2_py | |
message_filters |
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kitti2rosbag2 at Robotics Stack Exchange
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