Hello,

I found that the value of /odom/twist/twist/linear and /odom/twist/twist/linear/angular is not in the unit of m/s and rad/s.

If I want to convert it to the unit of m/s and rad/s, what coefficient should I multiply? Thank you a lot.

Thank you very much for publishing this great dataset, but recently I can't get the dataset download link on your new website. Can you fix the download request of KAIST dataset? Thank you again for your generous sharing.

Hello,

I cannot find the transformation between stereo/left and stereo/right in the calibration directory.

Could you please provide some advice? Thanks a lot.

hi, i am trying to use complex urban dataset but the fileplayer cannot be compiled without repo below! anything Can I do to fix this?

depend_pack.rosinstall:

• git:
  local-name: irp_sen_msgs
  uri: https://github.com/irapkaist/irp_sen_msgs.git

the altimeter data is already changed to height ?
the unit about the altimeter data?

Hi!
There are some compilations issues related with OpenCV 4.2 (delivered with Ubuntu 20.04)
Some headers are deprecated as cv.h

file_player/src/ROSThread.h:20:10: fatal error: opencv/cv.h: No such file or directory
   20 | #include <opencv/cv.h>

The same happen with #include <opencv/highgui.h>, it does not exist anymore in OpenCV 4.2

This is easy to fix just replacing the lines with:

#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>

Then I have to rename some OpenCV constant occurrences:
CV_LOAD_IMAGE_COLOR -> cv::IMREAD_COLOR
CV_LOAD_IMAGE_ANYDEPTH -> cv::IMREAD_ANYDEPTH

Furthermore, there are issues related with PCL too:

pcl_config.h:7:4: error: #error PCL requires C++14 or above

To fix this, I just add the following lines to the CMakeLists.txt file:

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON) 

Hello,

when runing the catkin_make i have this error message:

Project 'file_player' tried to find library 'pthread'. The library is
neither a target nor built/installed properly. Did you compile project
'roscpp'? Did you find_package() it before the subdirectory containing its
code is included?

Thanks

Hello,

I cannot find the measurement noise standard deviation of IMU in the calibration directory.

Could you please provide some advice? Thanks a lot.

It would be nice if only certain topics are subscribed to then only those topics are published. For example if only the LiDAR is used, then there is no need to read the stereo images / imu / etc from disk. This can allow for faster dataset playback if not using all the sensors.

The main use case I have is if I am only using stereo + inertial, then I rather not have the system reading all the pointclouds and taking up disk bandwidth. The number of nodes that are currently subscribed to a topic can be checked with:

// Check if we have subscribers, if we don't then return
if(pub_odomimu.getNumSubscribers()==0)
     return;