ros2bag_MulRan

ros2bag_MulRan is a ROS2 package for converting MulRan dataset raw data to ROS2 bag files. It is modified from the official file player respository. More information can be found there.

Dependencies

• Ubuntu 22.04
• ROS2 Humble
• PCL
• OpenCV

sudo apt install ros-humble-pcl*
sudo apt install libopencv-dev

Compilation

cd ~/ros2_ws/src
git clone https://github.com/ASIG-X/ros2bag_MulRan
cd ..
colcon build --symlink-install

Usage

1. Download the raw data from MulRan dataset and put them all under one folder.
2. Unzip Ouster data by running the following commands.

tar -xvzf Ouster.tar.gz
tar xopf Ouster.tar

3. (Optional) Unzip radar data by running the following commands and set the parameter 'if_write_radar' in launch/ros2bag_MulRan.launch.py to 'True'.

Note: For the default parameter setting, radar data will not be written into bag files, and this step is unnecessary.

tar -xvzf polar.tar.gz
tar xopf polar.tar

4. Run the following command in the terminal

# Optional: change parameters (e.g., set if_write_imu to false) in launch/bag_writer.launch.py for customized writing different sensor data to bag file.
cd ~/ros2_ws
source install/setup.bash
ros2 launch ros2bag_mulran ros2bag_MulRan.launch.py data_folder_path:=/path/to/mulran/data/folder/$squence_name sequence_name:=$squence_name dst_path:=/path/to/destination/folder
# e.g., ros2 launch ros2bag_mulran ros2bag_MulRan.launch.py data_folder_path:=/home/ziyu/Documents/KAIST01 sequence_name:=KAIST01 dst_path:=/home/ziyu/Documents/mulran

Contributors

Ziyu Cao (email: [email protected])

Kailai Li (email: [email protected])

License

The source code is released under GPLv3 license.

We are constantly working on improving our code. For any technical issues, please contact Ziyu Cao ([email protected]).