Kitti Player (ROS Node)

This node aims to play the kitti data into ROS. This repository is a catkin upgrade from the original work by Francesco Sacchi (see http://irawiki.disco.unimib.it/irawiki/index.php/Kitti_Player for the original version).

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In this page is described how to play the kitti data into ROS. This tutorial covers the velodyne data and the odometry

##Kitti dataset introduction The kitti dataset was chosen because it has useful data and a nice pcl integration

###Sensors

• Velodyne 64 planes
• Pose groundtruth

###Setup Please refer to the setup page.

Additional info can be found in the Download visual odometry development kit (1 MB) in the odometry page, such as the reference frame of the groundtruth poses

##Download To download the datasets go to [http://www.cvlibs.net/datasets/kitti/eval_odometry.php http://www.cvlibs.net/datasets/kitti/eval_odometry.php] and download *Download visual odometry data set (velodyne laser data, 80 GB) *Download visual odometry ground truth poses (4 MB)

If you want a downloaded version is available in a local computer (you must have access to that computer)

If you want you can download single sequences. From the raw data page choose the right one. Remind that you have the groundtruth only for the first ten sequences. Here the mapping of the sequences on the raw data

Nr.     Sequence name     Start   End
---------------------------------------
00: 2011_10_03_drive_0027 000000 004540
01: 2011_10_03_drive_0042 000000 001100
02: 2011_10_03_drive_0034 000000 004660
03: 2011_09_26_drive_0067 000000 000800
04: 2011_09_30_drive_0016 000000 000270
05: 2011_09_30_drive_0018 000000 002760
06: 2011_09_30_drive_0020 000000 001100
07: 2011_09_30_drive_0027 000000 001100
08: 2011_09_30_drive_0028 001100 005170
09: 2011_09_30_drive_0033 000000 001590
10: 2011_09_30_drive_0034 000000 001200