kaist2bag

A tool to convert KAIST urban dataset to rosbag.

Only tested on Ubuntu 20.04.

Guide

1. Download desired database files from the website

2. Extract .gz.tar files into their folders

find . -name 'urban28*.tar.gz' -execdir tar -xzvf '{}' \;

3. Clone and build this repository

cd src
git clone https://github.com/irapkaist/irp_sen_msgs.git
git clone https://github.com/tsyxyz/kaist2bag.git
cd ..
catkin build

4. Edit the config file with path and desired topics

5. Create a rosbag file for each sensor type

source devel/setup.bash
roslaunch kaist2bag kaist2bag.launch

6. Merge all bags into a single one (if desired)

rosrun kaist2bag mergebag.py merged.bag <bag_file_1> ... <bag_file_8>

Acknowledge

File parsing code are referenced from file_player.