The CU-Multi Dataset

The CU-MULTI Dataset: A dataset aimed to support multi-robot map-merging, inter-robot place recognition and loop-closure. If you would like to download the dataset, you can do so here.

Converting to ROS1/ROS2 bag formats

Please Note: The order of this is likely to change with a cleaner layout, but this will quickly get you started.

To convert the dataset to ROS1 bag files, you can use the provided Docker containers in the dataset_tools directory following the steps below. Before proceeding further, please make sure you have Docker installed. You can install Docker following the instructions at this link. If you are using Arch, you can follow the instructions here.

Before installing either (or both) containers, make sure to keep a note on where you download the dataset and where you have cloned this repository (you will need the global location of both). If you are using a unix-based OS, you can find the global location of either by entering the directory and typing pwd.

Update the SCRIPTS_DIR and DATASETS_DIR variables run_and_enter_container.sh bash script with the path of the conversion_scripts directory (there's one in the ros1 and ros2 folders) you will be using and where you have saved the CU-Multi dataset, respectively.

Convert to ROS1 rosbag format

Install and enter the Docker container

1. cd dataset_tools

2. cd ros1

3. sudo bash docker/build_docker.sh

4. sudo bash run_and_enter_container.bash

5. source /opt/ros/noetic/setup.bash

While you are in the container, run ros_core. If you want to do this in a tmux session, even better. Open a new window and repeat entering the container like above if not using a tmux session. Now enter /root/conversion_scripts directory. In this directory is the Python file for converting the unstructured CU-Multi dataset into a ROS1 rosbag file.

First, edit the Python file with the environment and corresponding robot you would like to convert.

Now run the Python file with:

python3 make_ros1_bag.py.

Convert to ROS2 rosbag format

Install and enter the Docker container

1. cd dataset_tools

2. cd ros2

3. sudo bash docker/build_docker.sh

4. sudo bash run_and_enter_container.bash

Enter the /root/conversion_scripts directory. In this directory is the Python file for converting the unstructured CU-Multi dataset into a ROS2 db3 file.

First, edit the Python file with the environment and corresponding robot you would like to convert.

Now run the Python file with:

python3 make_ros2_bag.py.