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Clone the repo to your workspace
https://github.com/srikanthmalla/sync_data.git
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go inside the package
cd sync_data
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Download the ros_bag file and save it as
input_new.bag
in the project folder, this current version synchronizesvelodyne_points
(PointCloud2) ~10 Hz andimu/data
(Imu)~200Hz. Around 200/10 ~20 imu points lie between two frames of velodyne topic.
[you can switch to git reset --hard f983bccf308e9e575b2fd157f0a4fd3e370dff73
, to work with laserscans from MIT STATA Center Dataset, can be downloaded withsh download_dataset.sh
and read that README file. The rosbag gives tilt_scan
(LaserScan)~20Hz and torso_lift_imu/data
(Imu) ~100 Hz. Around 100 / 20 ~5 imu points lie between two laser scans.]
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Compile the code using
catkin_make
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Run
roslaunch sync_data synchronizer.launch
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You can find the outputs in (ply files)
pointcloud/
, (txt files)imu/
(inside thesync_data/
project folder).