This rpository has source code for publishing kitti odometry datasets to ros topic. This allows you to adjust the publish speed and publish the 64-player velodyne data by changing it to 16layer.
cd ~/catkin_ws/src
git clone https://github.com/youngsikshin/kitti_player.git
cd ~/catkin_ws
catkin_make
Running with default parameters
rosrun kitti_player kitti_player
You can change parameters(e.g. data_path, left_topic, left_image_pub ... ) at runtime For example,
rosrun kitti_player kitti_player _data_path:="/var/data/kitti/dataset"
Roslaunch is also available. A sample of the default launch file is in the 'launch' directory.
roslaunch kitti_player kitti_player kitti_player.launch
KITTI odometry datasets can be downloaded from http://www.cvlibs.net/datasets/kitti/eval_odometry.php
And kitti_player needs a directory tree like the following:
└── dataset
└── poses
│ └ 00.txt
│ └ ...
│ └ 10.txt
├── sequences
│ └── 00
│ │ └── image_0
│ │ └── image_1
│ │ └── image_2
│ │ └── image_3
│ │ └── velodyne
│ │ └── times.txt
│ │ └── calib.txt
│ └── 01 (Subdirectory has same structure as above)
│ └── ...
└─└── 21
- Publish GT poses