ROS2 image publisher

Description

This is a ROS2 package created to publish images of some of the famous dataset

Installation

Source ROS2 environment (tested with Eloquent and Dashing)

source /opt/ros/<distro>/setup.bash

Clone the repository and build it

git clone https://github.com/mirellameelo/dataset_publisher_ros2.git

cd <path_to_dataset_publisher_ros2>
colcon build

Source the environment

source <path_to_dataset_publisher_ros2>/install/setub.bash

Usage

OpenvSLAM dataset

Download one of the Fisheye camera sequence or one of the Equirectangular camera sequence and run:

OBS: it should work with any .mp4 video.

ros2 run publisher openvslam_video -m <path_to_video>/video.mp4

Images will be published in camera/image_raw topic and frame_id is set to camera_link

KITTI dataset

Download one of the odometry dataset(grayscale) and run:

ros2 run publisher kitti_images -i <path_to_dataset>/<sequence_number>

Stereo images will be published in camera/left/image_raw and camera/right/image_raw topics, and frame_id is set to camera_link

EuRoc dataset

Download one of the sequence (ASL Dataset Format) and run:

ros2 run publisher euroc_images -i <path_to_dataset>/mav0

Stereo images will be published in camera/left/image_raw and camera/right/image_raw topics, and frame_id is set to camera_link