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kitti2rosbag2 package from kitti2rosbag2 repo

kitti2rosbag2

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

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

Screenshot 2023-12-08 at 12 47 56 PM

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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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