Ros2 bag support ?

[doisyg]

Hello,
Paper looks great! Is there a way to test this with ros2 bags ?

[nachovizzo]

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 rosrun pcl_ros bag_to_pcd <bag.bag> <topic_name> <folder_output>

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.

[doisyg]

That would be amazing.
Just sent you an wetransfer link on your email

[nachovizzo]

@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 pip install -U kiss-icp to upgrade the kiss-icp version

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!

[doisyg]

Amazing, thanks, it works!
I had to install pip install rosbags in addition de open3d.

[nachovizzo]

Great! We will update the requirements once the final release is out there

[jeychandar]

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.

[nachovizzo]

@jeychandar if you successfully installed the package pip install kiss-icp, then you can process a ROS2 bagile by running:

$ kiss_icp_pipeline --dataloader rosbag2 <dataset_path> --topic <pc2 topic> --visualize

[jeychandar]

Did the following command but shows error.

[nachovizzo]

Can you share the cmmand? You are invoking the ROS1 dataloader there, not the ROS2

[jeychandar]

kiss_icp_pipeline --dataloader rosbag2 /home/praveen/Downloads/kitti.bag --topic imu_raw --visualize

[nachovizzo]

But Kitti.bag then is a ROS1 bag, try with the rosbag dataloader instead

And I'm not sure what you are trying to do but /imu_raw is NOT a point cloud msg apparently.... so

[jeychandar]

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.

[nachovizzo]

@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

It's working:

But I'm not sure why you want to use that particular bagfile, there is no timestamp information, which means that you won't be able to "deskew" the pointclouds. I recommend using the KITTI dataloader instead.

[nachovizzo]

These are the poses obtained by KISS-ICP, without deskewing:

2011_09_30_drive_0028_poses_kitti.txt

At this point, PLEASE open a new issue since this is not at all related with ROS2 support