waywrong / ros_raw_kitti_player Goto Github PK

Ros Package to access manipulate and process Raw KITTI dataset. In this Project there is sensor fusion, and some other perception is done. Once it is complete I will release project Manual. In current phase , once you execute this Project you should see something similiar to below picture.

Latest Commit;

Initial Version

Accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Debian up-to-date:

sudo apt-get update

Install full ROS version:

sudo apt-get install ros-kinetic-desktop-full

You will need to initialize rosdep:

sudo rosdep init

rosdep update

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc

cd catkin_ws/src

git clone https://github.com/jediofgever/ROS_Raw_Kitti_Player.git

cd ROS_Raw_Kitti_Player

git submodule update --init --recursive

cd .. && catkin_make

under this directory 'ROS_Raw_Kitti_Player/kitti_ros/launch', find 'kitti_ros_node.launch' file, change the data paths according to your own envoirmment. For example my base directory for KITTI data is as follow ;

/home/atas/kitti_data/2011_09_26/2011_09_26_drive_0001_sync/

basically once you need to change username with yours , it should be fine afterwards.

cd catkin_ws

source devel/setup.bash

roslaunch kitti_ros kitti_ros_node.launch

Now RVIZ should open and you should be able to see something similar to above picture

A Special Thanks to Simon for letting me to use his helper package which saved me bunch of time. Checkout his awesome ROS Perception project here

Complete Documentation