waymo-rosbag-record

tool to convert waymo open dataset to rosbag

Software Requirements

• Docker ce (Installation guide)

Usage

Clone the entire repo

cd ~ 
git clone https://github.com/biomotion/waymo-rosbag-record && cd waymo-rosbag-record

Pull the docker image for recording the rosbag

docker pull biomotion/waymo-viewer:1.0

Or, you can build one for yourself.

cd ~/waymo-rosbag-record/Docker
source build.sh

You can grab a coffee before docker build done building new image

Now, you are able to run the docker with the script. What docker_run.sh does is to mount your folder into docker container so that your tfrecord files can be processed.

./docker_run.sh [path_to_your_tfrecord_files] [path_to_your_rosbag_to_be_output]

For the first time you run the docker, remember to make the package for recording.

catkin_make

After catkin make is done, you finally can run the roslaunch command.

source devel/setup.bash
roslaunch waymo_viewer recorder.launch