Autonomous Driving (Learning)

This code is followed by the tutorial in Chinese here. Author also provided code for this tutorial in this repo, however it is in ROS 1 and currently not maintained. My implementation is based on his repo and written to be compatible with ROS 2 humble. Translation to English (Vietnamese) will be added when I have time :).

KITTI dataset

Check file sample_downloader.sh

Converting raw data format to ROS 2 bag data format by the following repo:

https://github.com/Chris7462/kitti_to_ros2bag

Modify the to the data of the kitti_to_ros2bag.yaml file

Compile and run:

colcon build --symlink-install --packages-select kitti_to_ros2bag
source ./install/setup.bash
ros2 launch kitti_to_ros2bag kitti_to_ros2bag_launch.py

The above method produce bag file in ROS 2 format but missing the tf.

Another way is to convert the KITTI format to ROS 1 and then use tool to convert from ROS 1 to ROS2. Convert from KITTI to ROS 1 using repo kitti2bag Use docker for convenient because it is required to have ROS 1 installed.

docker run -v `pwd`:/data -it ulterzlw/kitti2bag -t 2011_10_03 -r 0027 raw_sync

Then install rosbags using python pip

pip install rosbags

Use rosbags-convert to convert from ROS 1 to ROS 2 format

rosbags-convert --src 2011_10_03_drive_0027_sync.bag --dst ./2011_10_03_drive_0027_sync_bag/