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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
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
CONTRIBUTING
No CONTRIBUTING.md found.
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