MuSoHu: Multi-Modal Social Human Navigation Dataset.

Dependencies :

ROS Noetic.

Python 3.8.10.

LiDAR driver Velodyne VLP-16.

Stereo camera driver ZED2.

Create a workspace and clone sources

mkdir -p catkin_ws/src; cd catkin_ws/src; catkin_init_workspace
git clone https://github.com/ros-drivers/velodyne.git
git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
git clone https://github.com/stereolabs/zed-ros-interfaces.git

Install dependencies with rosdep :

cd catkin_ws; rosdep install --from-paths . --ignore-src --rosdistro=noetic

Build and source

cd catkin_ws; catkin_make; source devel/setup.bash

Launch visualization:

In terminal 1 :

roslaunch musohu_package musohu_suite.launch

Record data:

In terminal 2 :

python3 record.py

Link to TF Tree / URDF

Parsing bag files

To parse bag files and create samples please follow this guide. To load the data, here is a PyTorch dataloader example which loads ego-centeric images.