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Ros2 bag support ? #6
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Thanks! You can test it with ROS1 bagfiles, I haven't treid with ROS2 so far, but it should somehow work. in any case, the rosbag support is experimental, and it's also super slow, reading from the bagfile takes more time than running the pipeline. In any case, if you just want to inspect the results, you can try to extract the pointclouds from the rosbag and then proces the folder. In ROS1 this can be easily done with We also plan to release a ROS1 and ROS2 packages soon-ish. I hope this helps! PS: Do you have access to a ROS2 bagfile you can upload or send a Link? I can try to see if there is an easy way to process this. |
That would be amazing. |
@doisyg Sorry for the delay, I made a “preliminary” in a rush dataloader for rosbag2 files. It is working at least with the rosbag file that you sent me, though the results are not great. I just pushed a quick fix only for linux, if you are using other platform please let me know. Please I ran this command to process your bagfile: kiss_icp_pipeline --dataloader rosbag2 $DATASETS/github/rosbag2_horizontal --topic /rslidar_points --visualize Additionally, I change the default max range of 100m to 10m since this looks like an indoor since (though can't really tell by just looking the data). You could extend the dataloader to apply any transformation that put the point cloud upside down (or whatever pre-processing you need) data:
max_range: 10.0
min_range: 0.0 This is how the trajectory looks like: Please let me know if it worked on your end! |
Amazing, thanks, it works! |
Great! We will update the requirements once the final release is out there |
Hi I am working with exisited ros bag for kitti dataset provided by https://github.com/TixiaoShan/LIO-SAM. I am trying to play with ros2 bag distro(foxy). how to play the recorded bag file. Ros2 version supports your repo?. Can you please share the command line to play the recorded bag. |
@jeychandar if you successfully installed the package $ kiss_icp_pipeline --dataloader rosbag2 <dataset_path> --topic <pc2 topic> --visualize |
Can you share the cmmand? You are invoking the ROS1 dataloader there, not the ROS2 |
kiss_icp_pipeline --dataloader rosbag2 /home/praveen/Downloads/kitti.bag --topic imu_raw --visualize |
But And I'm not sure what you are trying to do but |
Tried with rosbag also still getting the same error. I am trying play and see how the kitti bag works.I am able to play in rviz for some kind of sensor. velodyne, ouster,livox I am able to visualize and can store to pcd and convert to las. But your paper says you have used velocity model and downsampling voxel by find the ICP and fast nearest neighbour. I was impressed and wanna try these recorded bag with yours and see how the results are. |
@jeychandar so, this is NOT a ROS1 bagfile, I just downloaded and run: $ kiss_icp_pipeline 2011_09_30_drive_0028.bag --topic /points_raw --visualize But I'm not sure why you want to use that particular bagfile, there is no |
These are the poses obtained by KISS-ICP, without deskewing:
At this point, PLEASE open a new issue since this is not at all related with ROS2 support |
…#4) * #285 * #284 * https://github.com/PRBonn/kiss-icp/pull/288/files * #289 * #282 * #283 * Missing change * Merge #290 * #252 * Expose registration params to ROS node * Update viz * Squashed commit of the following: (#6) commit 787c091ef39c06e87eb303c52a7d339ae5089cb9 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 13:43:21 2024 +0000 go kraizi commit 489a3ab13a3fe504a5aa669ca9ffa64977688d45 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 13:39:42 2024 +0000 go back commit 28d611c0218314f3565cd8fd6d5fc49fd9339172 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 13:35:23 2024 +0000 hack yourself to hate you even more in the future commit c683fca76e2d6d1bc96fad85a713d6b15a00db12 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 13:11:11 2024 +0000 asi no commit 457dd8dafcacceeca831ff77765ac4249eea7274 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 12:44:32 2024 +0000 Fix but still don't like at all commit d0bb98c Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 11:16:16 2024 +0000 Not liking this crap commit e2031b3 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Mon Mar 11 10:49:35 2024 +0000 Go back to using the global initial guess instead of delta This is somewhow more generic (can use other types of sensors) and force the application code to provide the specific initial_gues commit c446bfa Author: Ignacio Vizzo <ignacio@dexory.com> Date: Fri Mar 8 16:18:24 2024 +0100 Faster convergencex commit 1b8daa5 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Fri Mar 8 14:44:13 2024 +0100 destroy this crap commit 58ae915 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Fri Mar 8 12:30:59 2024 +0100 New parametrization commit 3d128f7 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Fri Mar 8 12:20:11 2024 +0100 Going back to master commit 03edc4c Author: Ignacio Vizzo <ignacio@dexory.com> Date: Fri Mar 8 00:25:57 2024 +0100 new paramaiters commit 66dea91 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 19:18:32 2024 +0100 marri paipline commit 0ab2353 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 19:12:59 2024 +0100 big error idoiota commit 725b22c Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 19:04:59 2024 +0100 that's how you build minecraft commit b51dc53 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 19:01:38 2024 +0100 remove crap commit 1608900 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 18:45:38 2024 +0100 looks to be the exact same commit a0b9326 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 18:42:01 2024 +0100 update config lol commit 6d2484e Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 18:15:17 2024 +0100 A vomit but it's working lol commit e7379a4 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 16:26:19 2024 +0100 New parameters, more sparse more nice commit e2eba8a Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 16:25:51 2024 +0100 use deltas, looking shiht commit 5e2ee51 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 16:25:32 2024 +0100 marry python pipeline commit 26507ce Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 14:31:15 2024 +0100 launch lidars as well babi commit 148f90b Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 14:30:39 2024 +0100 new subsample strattegy and use delta pose isntead of absolute pose commit 95b9ea2 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 14:29:43 2024 +0100 2D mode commit b92ab32 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 14:29:19 2024 +0100 No more voxel blocks for now commit 6e4233a Merge: 2adc94e e9cb369 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 13:08:08 2024 +0100 Merge branch 'AUTO-2066_integration_branch' into AUTO-2206_expose_initial_guess commit 2adc94e Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 13:05:52 2024 +0100 Just a draft commit 02def49 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 11:50:40 2024 +0100 Sort from more to less generic API commit 501b74f Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 11:38:19 2024 +0100 Sort thins out commit 2aef86c Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 11:37:40 2024 +0100 not used headers commit 1878791 Author: Ignacio Vizzo <ignacio@dexory.com> Date: Thu Mar 7 11:37:19 2024 +0100 Add a ton of functions and wrappers
Hello,
Paper looks great! Is there a way to test this with ros2 bags ?
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