kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2

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)

Packages

Name Version
kitti2rosbag2 0.0.0

README

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

CONTRIBUTING

No CONTRIBUTING.md found.

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository

kitti2rosbag2 repository