No ground truth data
hcaawu opened this issue · 8 comments
I downloaded the bag file but there is no ros topic containing gps or ground truth data? Where can I find it?
Thanks
Hi,
The topic for GPS-RTK (ground truth for localization) is /nmea_sentence
.
To use it:
-
Download the driver https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/drivers/magellan_proflex500 and put it in your
catkin_ws/src/
-
Put this code block in your launch file:
<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver"/>
<node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
<node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>
or check here: https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch
Cheers,
Zhi
Thank you.
Also, I tried to run the bag on 20180719 but the link provided is directed to 0713.
Thx for the feedback. The link is fixed.
Hi, @yzrobot In baselines there is a package 'utbm_pose_estimation'. Can the output of this package be used as the groundtruth?
Hi, I don't think so (as the name "estimation"), the only one we can call “ground-truth” in the data we currently provide is the GPS-RTK, i.e. the /fix
ROS topic. Cheers.
Hi,
The topic for GPS-RTK (ground truth for localization) is
/nmea_sentence
.To use it:
- Download the driver https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/drivers/magellan_proflex500 and put it in your
catkin_ws/src/
- Put this code block in your launch file:
<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver"/> <node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/> <node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>
or check here: https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch
Cheers,
Zhi
Hi ,How to /nmea_sentence ros topic convert to /fix ,I want to get gps data。
According to the above steps, it is not possible, can you be more detailed?
Thanks!
solved.Thx!
main problem lack of https://github.com/ros-drivers/nmea_msgs package!