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kitti_to_ros2bag package from kitti_to_ros2bag repo

kitti_to_ros2bag

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/chris7462/kitti_to_ros2bag.git
VCS Type git
VCS Version master
Last Updated 2024-10-11
Dev Status UNKNOWN
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

TODO: Package description

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Maintainers

  • chris7462

Authors

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ReadMe.md

KITTI to ROS2 Bag

As I couldn’t find any package on GitHub for directly converting raw KITTI data into ROS2 bag, I decided to create this repository.

The current version of this repository only supports the conversion of KITTI raw data into ROS2 bag. Contributions are welcome.

How to use it?

  1. Download the raw data from KITTI website and unzip the downloaded file.
  2. clone this repo under your {ros2_workspace}/src folder.
    git clone https://github.com/Chris7462/kitti_to_ros2bag.git
  1. Modify the kitti_to_ros2bag.yaml file under params folder.
    • kitti_path: indicates the data path
    • data_folder: indicates the data folder
    • calib_folder: indicates the calibation folder. By default the calibration files are under kitti_path. If you put the calibration files into a different folder, then you will have to change this value.
    • dirs: designates the directories to be written into the bag

    For example:

    kitti_path: "/data/kitti/raw/2011_09_29"
    data_folder: "2011_09_29_drive_0071_sync"
    calib_folder: ""
    dirs: ["image_00", "image_01", "image_02", "image_03", "oxts", "velodyne_points"]
    

The corresponding folder structure:

    /data/kitti/raw/2011_09_29/     <--- kitti_path
    ├── 2011_09_29_drive_0071_sync  <--- data_folder
    │   ├── image_00                <--- dirs
    │   │   ├── data
    │   │   │   ├── 0000000000.png
    │   │   │   ├── ...
    │   │   │   └── 0000001058.png
    │   │   └── timestamps.txt
    │   ├── image_01
    │   │   ├── data
    │   │   │   ├── 0000000000.png
    │   │   │   ├── ...
    │   │   │   └── 0000001058.png
    │   │   └── timestamps.txt
    │   ├── image_02
    │   │   ├── data
    │   │   │   ├── 0000000000.png
    │   │   │   ├── ...
    │   │   │   └── 0000001058.png
    │   │   └── timestamps.txt
    │   ├── image_03
    │   │   ├── data
    │   │   │   ├── 0000000000.png
    │   │   │   ├── ...
    │   │   │   └── 0000001058.png
    │   │   └── timestamps.txt
    │   ├── oxts
    │   │   ├── data
    │   │   │   ├── 0000000000.txt
    │   │   │   ├── ...
    │   │   │   └── 0000001058.txt
    │   │   ├── dataformat.txt
    │   │   └── timestamps.txt
    │   └── velodyne_points
    │       ├── data
    │       │   ├── 0000000000.bin
    │       │   ├── ...
    │       │   └── 0000001058.bin
    │       ├── timestamps_end.txt
    │       ├── timestamps_start.txt
    │       └── timestamps.txt
    ├── calib_cam_to_cam.txt        <--- calibrations
    ├── calib_imu_to_velo.txt
    └── calib_velo_to_cam.txt
  1. Build the package
    colcon build --symlink-install --packages-select kitti_to_ros2bag
  1. Launch the package
    source ./install/setup.bash
    ros2 launch kitti_to_ros2bag kitti_to_ros2bag_launch.py
    

That's it. You have the file *kitti_2011_09_29_drive_0071_sync_bag* that contains your data.

References

  1. https://github.com/umtclskn/ros2_kitti_publishers
  2. https://github.com/tomas789/kitti2bag
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_cmake
ament_lint_auto
ament_lint_common
rclcpp
rosbag2_cpp
geometry_msgs
sensor_msgs
tf2
tf2_geometry_msgs
cv_bridge
pcl_conversions

System Dependencies

No direct system dependencies.

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 kitti_to_ros2bag at Robotics Stack Exchange

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