A package that uses rtabmap to automatically draw the start and end points in an image and create a dataset.
You will need to install rtabmap_ros to use this package.
To create a map using this package, run the following command
$roslaunch rtabmap_create_data rosbag_to_map.launch rosbag:=true image:=/kinect2/qhd/image_color_rect depth:=/kinect2/qhd/image_depth_rect camera_info:=/kinect2/qhd/camera_info odom:=/kinect2_link
If data is taken with Realsense, the following launch file can be used to create it.
$roslaunch rtabmap_create_data rosbag_to_map_realsensed435i.launch
Once the launch file has been launched, playing the rosbag will automatically create the map.
$rosbag play --clock src/rosbag_data/26_4_filtered.bag
Once the map data has been created, it can be displayed by executing the following command.
$roslaunch rtabmap_ros rtabmap.launch database_path:="~/.ros/rtabmap.db"
Replace database_path with anything you want and run it. Execute this command to launch RtabMap. Click "Download map" and select "local map optimized".
Check that the map has been created. Then run the following command.
$rosrun rtabmap_create_data map_to_image
You can then make a service call to create the dataset.
$rosservice call /simple_demo_node/get_octomap
$rosservice call /simple_demo_node/get_octomap "name:'test'"
Argment
- name : create csv name(String)
The data created by this script is available at the following link.
- Greenhouse: Image, Trajectory
- Sakaki Park: Image, Trajectory
- Nature Trail: Image, Trajectory
Data included in raw ROS bagfiles:
| Topic Name | Message Type | Description |
|---|---|---|
| /camera/aligned_depth_to_color/camera_info | sensor_msgs/CameraInfo | |
| /camera/aligned_depth_to_color/image_raw | sensor_msgs/Image | |
| /camera/color/camera_info | sensor_msgs/CameraInfo | |
| /camera/color/image_raw | sensor_msgs/Image | |
| /camera/depth/camera_info | sensor_msgs/CameraInfo | |
| /camera/depth/image_rect_raw | sensor_msgs/Image | |
| /camera/extrinsics/depth_to_color | realsense2_camera/Extrinsics | |
| /camera/gyro/imu_info | realsense2_camera/IMUInfo | |
| /camera/imu | sensor_msgs/Imu | |
| /tf_static | tf2_msgs/TFMessage | |
| /ublox/fix | sensor_msgs/NavSatFix | |
| /velodyne_points | sensor_msgs/PointCloud2 |
The following are the links for the ROS Bag files.