The nclt2ros package provides ROS nodes for
the data from The University of Michigan North Campus Long-Term Vision and LIDAR Dataset.
launch file for downloading the raw data
<launch>
# download
<node name="nclt2ros" pkg="nclt2ros" type="nclt2downloader" output="screen">
<param name="date" value="2013-01-10" />
<param name="raw_data_path" value="/home/christian/nclt2ros/raw_data" />
<param name="lb3" value="False" />
<param name="sen" value="True" />
<param name="vel" value="False" />
<param name="hokuyo" value="False" />
<param name="gt" value="True" />
<param name="gt_cov" value="True" />
</node>
</launch>
downloads the sen
(sensor data), gt
(ground truth) and gt_cov
(ground truth covariance) from date 2013-01-10
in folder /home/christian/nclt2ros/raw_data
launch file for visualizing specific data
<launch>
# visualize
<node name="nclt2ros" pkg="nclt2ros" type="nclt2visualizer" output="screen">
<param name="date" value="2013-01-10"/>
<param name="raw_data_path" value="/home/christian/nclt2ros/raw_data" />
<param name="plot_path" value="/home/christian/nclt2ros/plots" />
<param name="show_plot" value="True" />
<param name="gt_kml" value="False" />
<param name="gt_png" value="True" />
<param name="gps_kml" value="False" />
<param name="gps_png" value="False" />
<param name="gps_rtk_kml" value="True" />
<param name="gps_rtk_png" value="True" />
<param name="odom_kml" value="False" />
<param name="odom_png" value="True" />
<param name="all" value="False" />
</node>
</launch>
visualizes the gt_png
, gps_rtk_kml
, gps_rtk_png
and odom_png
from date 2013-01-10
with raw data in /home/christian/nclt2ros/raw_data
and places the plots in /home/christian/nclt2ros/plots
launch file for converting the raw data to rosbag files
<launch>
# download
<node name="nclt2ros" pkg="nclt2ros" type="nclt2rosbag" output="screen">
<param name="date" value="2013-01-10"/>
<param name="raw_data_path" value="/home/christian/nclt2ros/raw_data" />
<param name="rosbag_output_path" value="/home/christian/nclt2ros/rosbags"/>
<param name="bag_name" value="nclt" />
<param name="cam_folder" value="5"/>
# specify data to convert
<param name="lb3" value="False" />
<param name="sen" value="True" />
<param name="vel" value="True" />
<param name="hokuyo" value="True" />
<param name="gt" value="True" />
# topic names
<param name="gps_fix" value="/navsat/fix" />
<param name="gps_track" value="/navsat/track" />
<param name="gps__speed" value="/navsat/speed" />
<param name="gps_rtk_fix" value="/navsat/rtk/fix" />
<param name="gps_rtk_track" value="/navsat/rtk/track" />
<param name="gps_rtk_speed" value="/navsat/rtk/speed" />
<param name="ms25_imu_data" value="/imu/data" />
<param name="ms25_imu_mag" value="/imu/mag" />
<param name="wheel_odometry_topic" value="/odom" />
<param name="hokuyo_utm_topic" value="/hokuyo_30m" />
<param name="hokuyo_urg_topic" value="/hokuyo_4m" />
<param name="velodyne_topic" value="/velodyne_points" />
<param name="ladybug_topic" value="/images/raw" />
<param name="ground_truth_topic" value="/ground_truth" />
# frame ids
<param name="gps_sensor" value="gps_link" />
<param name="gps_rtk_sensor" value="gps_rtk_link" />
<param name="imu_sensor" value="imu_link" />
<param name="wheel_odometry_sensor" value="odom" />
<param name="hokuyo_utm_lidar" value="laser_utm" />
<param name="hokuyo_urg_lidar" value="laser_urg" />
<param name="velodyne_lidar" value="velodyne" />
<param name="ladybug_sensor" value="camera" />
<param name="ground_truth" value="ground_truth_link" />
<param name="body" value="base_link" />
</node>
</launch>
create a catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
download and build this repository
cd src
git clone https://github.com/bierschi/nclt2ros.git
cd ~/catkin_ws/
catkin_make
source the catkin workspace to access the package nclt2ros
source devel/setup.bash
execute specific roslaunch file
roslaunch nclt2ros download.launch
visualizing as a png file
visualizing as a kml file:
for self defined transformation tree, change frame_id
and topic_name
in launch file convert.launch