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KAIST to ROS bag

This sourced code is modified from kaist2bag provided form tsyxyz, while we combine the left and right 3D LiDAR data under one topic and share the same timestamp.

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 '{}' \;
  1. Clone and build this repository
cd src
git clone https://github.com/irapkaist/irp_sen_msgs.git
git clone https://github.com/ZikangYuan/kaist2bag.git
cd ..
catkin build

  1. Edit the config file with path and desired topics

  2. Create a rosbag file for each sensor type

source devel/setup.bash
roslaunch kaist2bag kaist2bag.launch
  1. Merge all bags into a single one (if desired)
rosrun kaist2bag mergebag.py merged.bag <bag_file_1> ... <bag_file_8>

Acknowledgments

Thanks for kaist2bag.