As I couldn't find any package on GitHub for directly converting raw KITTI data into ROS2 bag, I decided to create this repository.
The current version of this repository only supports the conversion of KITTI raw data into ROS2 bag. Contributions are welcome.
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Download the raw data from KITTI website and unzip the downloaded file.
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clone this repo under your {ros2_workspace}/src folder.
git clone https://github.com/Chris7462/kitti_to_ros2bag.git
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Modify the kitti_to_ros2bag.yaml file under params folder.
- kitti_path: indicates the data path
- data_folder: indicates the data folder
- calib_folder: indicates the calibation folder. By default the calibration files are under kitti_path. If you put the calibration files into a different folder, then you will have to change this value.
- dirs: designates the directories to be written into the bag
For example:
kitti_path: "/data/kitti/raw/2011_09_29" data_folder: "2011_09_29_drive_0071_sync" calib_folder: "" dirs: ["image_00", "image_01", "image_02", "image_03", "oxts", "velodyne_points"]
The corresponding folder structure:
/data/kitti/raw/2011_09_29/ <--- kitti_path ├── 2011_09_29_drive_0071_sync <--- data_folder │ ├── image_00 <--- dirs │ │ ├── data │ │ │ ├── 0000000000.png │ │ │ ├── ... │ │ │ └── 0000001058.png │ │ └── timestamps.txt │ ├── image_01 │ │ ├── data │ │ │ ├── 0000000000.png │ │ │ ├── ... │ │ │ └── 0000001058.png │ │ └── timestamps.txt │ ├── image_02 │ │ ├── data │ │ │ ├── 0000000000.png │ │ │ ├── ... │ │ │ └── 0000001058.png │ │ └── timestamps.txt │ ├── image_03 │ │ ├── data │ │ │ ├── 0000000000.png │ │ │ ├── ... │ │ │ └── 0000001058.png │ │ └── timestamps.txt │ ├── oxts │ │ ├── data │ │ │ ├── 0000000000.txt │ │ │ ├── ... │ │ │ └── 0000001058.txt │ │ ├── dataformat.txt │ │ └── timestamps.txt │ └── velodyne_points │ ├── data │ │ ├── 0000000000.bin │ │ ├── ... │ │ └── 0000001058.bin │ ├── timestamps_end.txt │ ├── timestamps_start.txt │ └── timestamps.txt ├── calib_cam_to_cam.txt <--- calibrations ├── calib_imu_to_velo.txt └── calib_velo_to_cam.txt -
Build the package
colcon build --symlink-install --packages-select kitti_to_ros2bag
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Launch the package
source ./install/setup.bash ros2 launch kitti_to_ros2bag kitti_to_ros2bag_launch.pyThat's it. You have the file kitti_2011_09_29_drive_0071_sync_bag that contains your data.