These are ARIO dataset tools. It includes data collection, data saving, and data publishing code. The data is saved in a fixed format. For details on the format, see Directory structure translation.
Tested successfully on Agilex Cobot Magic robot.
Download our source code:
git clone https://github.com/ario-dataset/ario-tools.git
cd ario-tools
git submodule update --init --recursivecd ario-tools
catkin_makesensor_msgs::Image,sensor_msgs::PointCloud2,sensor_msgs::JointState,sensor_msgs::CameraInfo,geometry_msgs::PoseStamped,nav_msgs::Odometry
Run the data collection code.
# Activate environment variables.
source source devel/setup.sh
# Assume it is dataset group 0. You need to specify the path where it is located. The path must already exist; if it does not, an error will be reported.
roslaunch collect_data run_data_capture.launch episodeIndex:=0 datasetDir:=/workspaceIf successful, the following status will be displayed.
path: /workspace/episode0
total time: 3.00223
topic: frame in 1 second / total frame
/camera_l/color/image_raw: 20 / 65
/camera_f/color/image_raw: 20 / 62
/camera_r/color/image_raw: 20 / 61
/camera_l/depth/image_raw: 19 / 60
/camera_f/depth/image_raw: 21 / 60
/camera_r/depth/image_raw: 23 / 63
/camera_l/depth/color/points: 21 / 59
/camera_f/depth/color/points: 18 / 54
/camera_r/depth/color/points: 22 / 65
/master/joint_left: 87 / 248
/master/joint_right: 84 / 238
/puppet/joint_left: 83 / 248
/puppet/joint_right: 89 / 243
/master/end_left: 88 / 245
/master/end_right: 84 / 233
/puppet/end_left: 83 / 241
/puppet/end_right: 93 / 250
sum total frame: 2495
config topic: total frame
/camera_l/color/camera_info: 0
/camera_f/color/camera_info: 0
/camera_r/color/camera_info: 0
/camera_l/depth/camera_info: 1
/camera_f/depth/camera_info: 1
/camera_r/depth/camera_info: 1
/camera_l/depth/camera_info: 1
/camera_f/depth/camera_info: 1
/camera_r/depth/camera_info: 1
press ENTER to stop capture:To stop data collection, press ENTER to stop. Writing to the file takes time, so you can try waiting or pressing ENTER several times.
If "Done" is displayed, it means the data just collected has been written to the file.
Done
[collect_data_dataCapture-1] process has finished cleanly
log file: /home/noetic/.ros/log/21114750-1995-11ef-b6f1-578b5ce9ba2e/collect_data_dataCapture-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
doneFor example, dataset number 0 collected:
episode0
.
├── arm
│ ├── endPose
│ │ ├── masterLeft
│ │ │ └── 1714373556.360405.json
│ │ ├── masterRight
│ │ │ └── 1714373556.360135.json
│ │ ├── puppetLeft
│ │ │ └── 1714373556.393465.json
│ │ └── puppetRight
│ │ └── 1714373556.386106.json
│ └── jointState
│ ├── masterLeft
│ │ └── 1714373556.360460.json
│ ├── masterRight
│ │ └── 1714373556.360205.json
│ ├── puppetLeft
│ │ └── 1714373556.363036.json
│ └── puppetRight
│ └── 1714373556.363178.json
├── camera
│ ├── color
│ │ ├── front
│ │ │ ├── 1714373556.409885.png
│ │ │ └── config.json
│ │ ├── left
│ │ │ ├── 1714373556.370113.png
│ │ │ └── config.json
│ │ └── right
│ │ ├── 1714373556.358616.png
│ │ └── config.json
│ ├── depth
│ │ ├── front
│ │ │ ├── 1714373556.388914.png
│ │ │ └── config.json
│ │ ├── left
│ │ │ ├── 1714373556.353924.png
│ │ │ └── config.json
│ │ └── right
│ │ ├── 1714373556.376457.png
│ │ └── config.json
│ └── pointCloud
│ ├── front
│ │ ├── 1714373556.248885.pcd
│ │ └── config.json
│ ├── left
│ │ ├── 1714373556.247312.pcd
│ │ └── config.json
│ └── right
│ ├── 1714373556.273297.pcd
│ └── config.json
├── instructions.json
└── robotBase
└── velroslaunch collect_data run_data_sync.launch episodeIndex:=0 datasetDir:=/workspaceThe source code is released under Apache-2.0 license.