/kaist2bag

A tool to convert KAIST urban dataset to rosbag.

Primary LanguageC++MIT LicenseMIT

kaist2bag

A tool to convert KAIST urban dataset to rosbag.

Only tested on Ubuntu 20.04.

Guide

  1. Download desired database files from the website

  2. Extract .gz.tar files into their folders

find . -name 'urban28*.tar.gz' -execdir tar -xzvf '{}' \;
  1. Clone and build this repository
cd src
git clone https://github.com/irapkaist/irp_sen_msgs.git
git clone https://github.com/tsyxyz/kaist2bag.git
cd ..
catkin build

  1. Edit the config file with path and desired topics

  2. Create a rosbag file for each sensor type

source devel/setup.bash
roslaunch kaist2bag kaist2bag.launch
  1. Merge all bags into a single one (if desired)
rosrun kaist2bag mergebag.py merged.bag <bag_file_1> ... <bag_file_8>

Acknowledge

File parsing code are referenced from file_player.