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KITTI to ROS2 Bag

As I couldn't find any package on GitHub for directly converting raw KITTI data into ROS2 bag, I decided to create this repository.

The current version of this repository only supports the conversion of KITTI raw data into ROS2 bag. Contributions are welcome.

How to use it?

  1. Download the raw data from KITTI website and unzip the downloaded file.

  2. clone this repo under your {ros2_workspace}/src folder.

    git clone https://github.com/Chris7462/kitti_to_ros2bag.git

  3. Modify the kitti_to_ros2bag.yaml file under params folder.

    • kitti_path: indicates the data path
    • data_folder: indicates the data folder
    • calib_folder: indicates the calibation folder. By default the calibration files are under kitti_path. If you put the calibration files into a different folder, then you will have to change this value.
    • dirs: designates the directories to be written into the bag

    For example:

    kitti_path: "/data/kitti/raw/2011_09_29"
data_folder: "2011_09_29_drive_0071_sync"
calib_folder: ""
dirs: ["image_00", "image_01", "image_02", "image_03", "oxts", "velodyne_points"]

    The corresponding folder structure:

    /data/kitti/raw/2011_09_29/     <--- kitti_path
├── 2011_09_29_drive_0071_sync  <--- data_folder
│   ├── image_00                <--- dirs
│   │   ├── data
│   │   │   ├── 0000000000.png
│   │   │   ├── ...
│   │   │   └── 0000001058.png
│   │   └── timestamps.txt
│   ├── image_01
│   │   ├── data
│   │   │   ├── 0000000000.png
│   │   │   ├── ...
│   │   │   └── 0000001058.png
│   │   └── timestamps.txt
│   ├── image_02
│   │   ├── data
│   │   │   ├── 0000000000.png
│   │   │   ├── ...
│   │   │   └── 0000001058.png
│   │   └── timestamps.txt
│   ├── image_03
│   │   ├── data
│   │   │   ├── 0000000000.png
│   │   │   ├── ...
│   │   │   └── 0000001058.png
│   │   └── timestamps.txt
│   ├── oxts
│   │   ├── data
│   │   │   ├── 0000000000.txt
│   │   │   ├── ...
│   │   │   └── 0000001058.txt
│   │   ├── dataformat.txt
│   │   └── timestamps.txt
│   └── velodyne_points
│       ├── data
│       │   ├── 0000000000.bin
│       │   ├── ...
│       │   └── 0000001058.bin
│       ├── timestamps_end.txt
│       ├── timestamps_start.txt
│       └── timestamps.txt
├── calib_cam_to_cam.txt        <--- calibrations
├── calib_imu_to_velo.txt
└── calib_velo_to_cam.txt

  4. Build the package

    colcon build --symlink-install --packages-select kitti_to_ros2bag

  5. Launch the package

    source ./install/setup.bash
ros2 launch kitti_to_ros2bag kitti_to_ros2bag_launch.py

    That's it. You have the file kitti_2011_09_29_drive_0071_sync_bag that contains your data.

References

  1. https://github.com/umtclskn/ros2_kitti_publishers
  2. https://github.com/tomas789/kitti2bag