README.md

Mapping Dataset Styria

Open mapping dataset of styria in Austria

Requirements

Tested on Ubuntu 18.04/20.04 ROS Melodic/Noetic

Sensor setup for walking dataset

Type	Sensor	Topic	Frequency
Lidar	1x Ouster OS1-64	/lidar/points	10Hz
IMU	XSens MTi-630	/imu/data	400Hz
GPS	u-blox F9P	/ublox_f9p/fix	1Hz

Graz Inner City (walking):

Duration: 29:07s (1747s)
Size: 27.0 GB

inner_city.zip
https://artirobots.sharepoint.com/:u:/g/EW7NEasfPFNNqX6kgPSrSJ4B8ifLob0q7ta24_YgT0TgIA?e=ZVh2ry

Planned route:

Graz Schlossberg (walking):

Duration: 32:57s (1977s)
Size: 30.5 GB

schlossberg.zip
https://artirobots.sharepoint.com/:u:/g/EcF9BHIY421Kqhf3DT4BxrkBhQt_U97iKyOeN4o3fx0hYA?e=E0iIqG

Graz Stadtpark (walking):

Duration: 51:50s (3110s)
Size: 48.0 GB

park.zip
https://artirobots.sharepoint.com/:u:/g/EdIVjOiqYhtMgHvKGAZlkRgBDvNG04Al-CjxZWe8sQg4yg?e=A96ck7

Planned route:

Vehicle Recordings by Virtual Vehicle Research

The demonstrator from Virtual Vehicle Research is equipped with multiple lidars and other sensors for the mapping. To reduce the amount of data only the top-mounted lidar on the vehicle was recorded for all ROSBAGs. One recording includes as well the front/left and right placed Lidars. A high-precision RTK-GPS from NovAtel was used for some recordings to have a ground truth for the positioning.

Type	Sensor	Topic	Frequency
Lidar	1x Ouster OS2-128	/lidar_top/points	10Hz
IMU	XSens MTi-630	/sensing/imu/imu_data	>=200Hz
GPS	u-blox F9P	/sensing/ublox_f9p/fix /sensing/ublox_f9p/speed	5Hz
Lidar (optional)	3x Ouster OS0-64	/lidar_front/points /lidar_middle_left/points /lidar_middle_right/points	10Hz
GPS (optional)	NovAtel ProPak6	/sensing/novatel/fix	100Hz

Graz University of Technology Campus (driving, low speed):

Duration: 21:02s (1232s)
Size: 29.5 GB

university_campus_2021-01-25-15-59-55_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYY8Z-SuraJJntc1KN6JoqAB4kFQvc0VKSQBq-wZqi6lUQ?e=Vbm6c1
university_campus_2021-01-25-16-14-56_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EbW-cuGCy15Bnm5G7mHsi9EBrBWb0B9A6TziWNnmJmYb5w?e=DOkFAp

Graz Inner City (driving):

Duration: 29:13s (1753s)
Size: 49.3 GB

campus_city_center_campus_2021-01-22-04-29-34_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EfM4Cnom_2xDtMWHsy7JlsEBn5_cVf3LAHaevfGGcMoBbQ?e=Jj8tEa
campus_city_center_campus_2021-01-22-04-39-06_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUK2b3I1Io5DpWmhkEN393ABMzT8qTSVxz-b59tdYBcSlQ?e=htEwZK
campus_city_center_campus_2021-01-22-04-48-33_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EaDhvYbyPqRHokSmmqpn5KMB4CD43_V4AJuSMqnM4aVU2A?e=duwbh2
campus_city_center_campus_2021-01-22-04-57-55_3.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUpGTkRbiDpMvq6P50-vtKABbXR24OFvFstzwSINCC2HuA?e=7qM1Z4

Urban Environment 1 (Graz University of Technology -> Murpark):

Duration: 10:06s (606s)
Size: 9.9 GB

campus_murpark_2021-03-16-16-27-02_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EXiXlPWXwTBDni7krobKF7YBN1d6THEEux7I2fT8qPux7w?e=y23xBA
campus_murpark_2021-03-16-16-30-00_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ESV9n6LFv_NOtsZse4cJDZABgfhkUL3U1BWGIbdkfZXV-w?e=iAgYTq
campus_murpark_2021-03-16-16-33-07_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQ9dDOPOx-pAkSNq0aIi8jwBEcl5Z0xfSt9GN79BtpHwLA?e=RVXeam
campus_murpark_2021-03-16-16-36-13_3.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZJdS-YpAlZPtgvbyFEO2m8BQZMRFCwHd2yw3vs305NeWg?e=dcZaWb

Motorway (Murpark -> A2 -> Murpark):

Duration: 12:18s (738s)
Size: 10.2 GB

murpark_a2_murpark_2021-03-16-16-37-19_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ET3pY37xB0hJgrjeV400q5EB1ajXSDfW875tcvEzdJW4iw?e=kbBUDx
murpark_a2_murpark_2021-03-16-16-40-27_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZu51bCyDLlGqeQYYJvxG1kB61-J5s9TbbLBYuo6TzymfQ?e=2mX6Oo
murpark_a2_murpark_2021-03-16-16-43-26_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZUTXDD-IBhGrPgtGwfznF0BWl4d6BZpJw6q80hfAQlE2Q?e=0HdvhZ
murpark_a2_murpark_2021-03-16-16-46-31_3.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYy5JDHWXdBDoaWhfufqnWoBVOhpLcKaMplGz7PerqqSCA?e=Uz7fZD

Urban environment 2 (Murpark -> Graz University of Technology):

Duration: 06:04s (364s)
Size: 5.4 GB

murpark_campus_2021-03-16-17-26-26_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZVz2fplA0lIpQfTpk5THo0B1kdWCJvVsw8owEHQCGtA6A?e=LUPXRQ
murpark_campus_2021-03-16-17-29-27_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EdI-CAfcBKBAkuJScWNCIsYBfDl8REw-XoLTGZqlLfXkrQ?e=VakPSH

4x Lidars (Graz University of Technology Campus):

Duration: 18:44s (1124s)
Size: 35.3 GB

vehicle_4_lidars_2021-01-22-05-36-56_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUccCxSWKSZCtzg65ZyeSjIBrvjRLBfjdh44oNno9F19fw?e=gX1ZEw
vehicle_4_lidars_2021-01-22-05-46-24_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQznXe0z351AndrMzUBBIOkBkSeRpHzmnJJyRuagFVvNug?e=2WWqIC
vehicle_4_lidars_2021-01-22-05-55-41_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUkwtvFQFhBLsPaoEUDdlXoBdvf9EwAMMRkxbArNUiTUbQ?e=fi4TuT

Installation

cd ~/mapping_ws/src
git clone https://github.com/ARTI-Robots/mapping_dataset_styria.git
git clone https://github.com/virtual-vehicle-research/ouster_example.git
cd ..
catkin_make

Run the package with mapping plattform (walking)

roscore

roslaunch mapping_dataset_styria replay_mapping_plattform.launch

rosbag play ROSBAG.bag --clock

Run the package with vehicle plattform (driving)

roscore

roslaunch mapping_dataset_styria replay_vehicle.launch 

rosbag play ROSBAG.bag --clock

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ARTI - Autonomous Robot Technology GmbH

Virtual Vehicle Research GmbH