It is completely based on ROS rviz and applicable only for DIDI challenge dataset version 1.
- Install ROS-kinetic (I used Ubuntu 16.04.02), official instruction is here Install everything:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-*
sudo apt-get install python-rosinstallInstall only needed packages
sudo apt-get install ros-kinetic-desktop
sudo apt-get install ros-kinetic-velodyne-*
sudo apt-get install python-rosinstall- I do not like to include extraneous bash scripts into
~/.bash, so you need either to add this line to.bashrcor type into terminal:
source /opt/ros/kinetic/setup.bash
- Run
roscoreandrvizapplication:
roscore &
rosrun rviz rviz -f velodyne -d didi.rviz- Play
rosbagfiles:
rosbag play --loop BAG_FILEContent example of the dataset #2:
$ rosbag info --yaml data-2/Data/2/3_f.bag
path: data-2/Data/2/3_f.bag
version: 2.0
duration: 21.515603
start: 1490992759.483720
end: 1490992780.999323
size: 822761554
messages: 37446
indexed: True
compression: none
types:
- type: bond/Status
md5: eacc84bf5d65b6777d4c50f463dfb9c8
- type: dataspeed_can_msgs/CanMessageStamped
md5: 33747cb98e223cafb806d7e94cb4071f
- type: dbw_mkz_msgs/BrakeInfoReport
md5: fc88af128b5b3213ea25ab325a9b3bbb
- type: dbw_mkz_msgs/BrakeReport
md5: a306c167d365176ae6159e3c4e3f3197
- type: dbw_mkz_msgs/FuelLevelReport
md5: f5ec1964dbda02fda82785b8035744e4
- type: dbw_mkz_msgs/GearReport
md5: f33342dfeb80c29d8fe4b31e22519594
- type: dbw_mkz_msgs/Misc1Report
md5: 9ecd16fb81815b3e46e0550feea1da2f
- type: dbw_mkz_msgs/SteeringReport
md5: 25bf2c220d904531d8bc16ab5271325d
- type: dbw_mkz_msgs/SurroundReport
md5: 17a8c9ed72da4f55d44d6d71483cf0e3
- type: dbw_mkz_msgs/SuspensionReport
md5: a2c91f746e5d8bec139c834f92ac7468
- type: dbw_mkz_msgs/ThrottleInfoReport
md5: 8255d20d2bbc661ad39074024259c71a
- type: dbw_mkz_msgs/ThrottleReport
md5: a7fd7b93c8549e83c319e38a18f6dbdc
- type: diagnostic_msgs/DiagnosticArray
md5: 60810da900de1dd6ddd437c3503511da
- type: diagnostic_msgs/DiagnosticStatus
md5: d0ce08bc6e5ba34c7754f563a9cabaf1
- type: dynamic_reconfigure/Config
md5: 958f16a05573709014982821e6822580
- type: dynamic_reconfigure/ConfigDescription
md5: 757ce9d44ba8ddd801bb30bc456f946f
- type: geometry_msgs/TwistStamped
md5: 98d34b0043a2093cf9d9345ab6eef12e
- type: nav_msgs/Odometry
md5: cd5e73d190d741a2f92e81eda573aca7
- type: radar_driver/RadarTracks
md5: 6a2de2f790cb8bb0e149d45d297462f8
- type: rosgraph_msgs/Log
md5: acffd30cd6b6de30f120938c17c593fb
- type: sensor_msgs/Image
md5: 060021388200f6f0f447d0fcd9c64743
- type: sensor_msgs/Imu
md5: 6a62c6daae103f4ff57a132d6f95cec2
- type: sensor_msgs/JointState
md5: 3066dcd76a6cfaef579bd0f34173e9fd
- type: sensor_msgs/NavSatFix
md5: 2d3a8cd499b9b4a0249fb98fd05cfa48
- type: sensor_msgs/PointCloud2
md5: 1158d486dd51d683ce2f1be655c3c181
- type: sensor_msgs/Range
md5: c005c34273dc426c67a020a87bc24148
- type: sensor_msgs/TimeReference
md5: fded64a0265108ba86c3d38fb11c0c16
- type: std_msgs/Bool
md5: 8b94c1b53db61fb6aed406028ad6332a
- type: std_msgs/Float64
md5: fdb28210bfa9d7c91146260178d9a584
- type: velodyne_msgs/VelodyneScan
md5: 50804fc9533a0e579e6322c04ae70566
topics:
- topic: /can_bus_dbw/can_rx
type: dataspeed_can_msgs/CanMessageStamped
messages: 15136
- topic: /cloud_nodelet/parameter_descriptions
type: dynamic_reconfigure/ConfigDescription
messages: 1
- topic: /cloud_nodelet/parameter_updates
type: dynamic_reconfigure/Config
messages: 1
- topic: /diagnostics
type: diagnostic_msgs/DiagnosticArray
messages: 216
- topic: /diagnostics_agg
type: diagnostic_msgs/DiagnosticArray
messages: 64
- topic: /diagnostics_toplevel_state
type: diagnostic_msgs/DiagnosticStatus
messages: 64
- topic: /image_raw
type: sensor_msgs/Image
messages: 513
- topic: /objects/capture_vehicle/front/gps/fix
type: sensor_msgs/NavSatFix
messages: 169
- topic: /objects/capture_vehicle/front/gps/rtkfix
type: nav_msgs/Odometry
messages: 213
- topic: /objects/capture_vehicle/front/gps/time
type: sensor_msgs/TimeReference
messages: 203
- topic: /objects/capture_vehicle/rear/gps/fix
type: sensor_msgs/NavSatFix
messages: 43
- topic: /objects/capture_vehicle/rear/gps/rtkfix
type: nav_msgs/Odometry
messages: 214
- topic: /objects/capture_vehicle/rear/gps/time
type: sensor_msgs/TimeReference
messages: 151
- topic: /objects/obs1/rear/gps/fix
type: sensor_msgs/NavSatFix
messages: 22
- topic: /objects/obs1/rear/gps/rtkfix
type: nav_msgs/Odometry
messages: 203
- topic: /objects/obs1/rear/gps/time
type: sensor_msgs/TimeReference
messages: 149
- topic: /radar/points
type: sensor_msgs/PointCloud2
messages: 427
- topic: /radar/range
type: sensor_msgs/Range
messages: 428
- topic: /radar/tracks
type: radar_driver/RadarTracks
messages: 428
- topic: /rosout
type: rosgraph_msgs/Log
messages: 29
- topic: /vehicle/brake_info_report
type: dbw_mkz_msgs/BrakeInfoReport
messages: 1069
- topic: /vehicle/brake_report
type: dbw_mkz_msgs/BrakeReport
messages: 1068
- topic: /vehicle/dbw_enabled
type: std_msgs/Bool
messages: 1
- topic: /vehicle/filtered_accel
type: std_msgs/Float64
messages: 1066
- topic: /vehicle/fuel_level_report
type: dbw_mkz_msgs/FuelLevelReport
messages: 214
- topic: /vehicle/gear_report
type: dbw_mkz_msgs/GearReport
messages: 427
- topic: /vehicle/gps/fix
type: sensor_msgs/NavSatFix
messages: 21
- topic: /vehicle/gps/time
type: sensor_msgs/TimeReference
messages: 21
- topic: /vehicle/gps/vel
type: geometry_msgs/TwistStamped
messages: 21
- topic: /vehicle/imu/data_raw
type: sensor_msgs/Imu
messages: 2133
- topic: /vehicle/joint_states
type: sensor_msgs/JointState
messages: 3208
- topic: /vehicle/misc_1_report
type: dbw_mkz_msgs/Misc1Report
messages: 426
- topic: /vehicle/sonar_cloud
type: sensor_msgs/PointCloud2
messages: 106
- topic: /vehicle/steering_report
type: dbw_mkz_msgs/SteeringReport
messages: 1066
- topic: /vehicle/surround_report
type: dbw_mkz_msgs/SurroundReport
messages: 106
- topic: /vehicle/suspension_report
type: dbw_mkz_msgs/SuspensionReport
messages: 1069
- topic: /vehicle/throttle_info_report
type: dbw_mkz_msgs/ThrottleInfoReport
messages: 2134
- topic: /vehicle/throttle_report
type: dbw_mkz_msgs/ThrottleReport
messages: 1067
- topic: /vehicle/tire_pressure_report
type: dbw_mkz_msgs/SuspensionReport
messages: 43
- topic: /vehicle/twist
type: geometry_msgs/TwistStamped
messages: 1068
- topic: /vehicle/twist_controller/parameter_descriptions
type: dynamic_reconfigure/ConfigDescription
messages: 1
- topic: /vehicle/twist_controller/parameter_updates
type: dynamic_reconfigure/Config
messages: 1
- topic: /vehicle/wheel_speed_report
type: dbw_mkz_msgs/SuspensionReport
messages: 2136
- topic: /velodyne_nodelet_manager/bond
type: bond/Status
messages: 86
- topic: /velodyne_packets
type: velodyne_msgs/VelodyneScan
messages: 214Unfortunately, this dataset doesn't have Velodyne PointClouds and you have to transform them manually from /velodyne_packets topic.
If you have installed ros indigo, then it should not be a problem. Full instruction is here.
rosrun velodyne_pointcloud transform_node