What do the 13 columns represent?

Hi, thanks for providing the dataset, and your researches are really helpful. Do yo provide the extrinsic calibrations for vehicle base to OS1-64 3D LiDAR and vehicle base to CIR204-H Navtech Radar? I have also tried to find them in (Complex Urban Dataset) but I don't find them out. Maybe I miss the information. May you conveniently tell me the calibration information?

henry@henry-MS-7A64:~/lidar_ws$ roslaunch file_player file_player.launch
... logging to /home/henry/.ros/log/6d544fae-ad09-11ec-84ed-2c56dca361ef/roslaunch-henry-MS-7A64-9660.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://henry-MS-7A64:35093/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.17

NODES
/
file_player (file_player/file_player)

ROS_MASTER_URI=http://localhost:11311

process[file_player-1]: started with pid [9677]
Please check the file path. The input path is wrong (data_stamp.csv not exist)
[file_player-1] process has finished cleanly
log file: /home/henry/.ros/log/6d544fae-ad09-11ec-84ed-2c56dca361ef/file_player-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
henry@henry-MS-7A64:~/lidar_ws$ roslaunch file_player file_player.launch
... logging to /home/henry/.ros/log/6d544fae-ad09-11ec-84ed-2c56dca361ef/roslaunch-henry-MS-7A64-9756.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://henry-MS-7A64:35719/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.17

NODES
/
file_player (file_player/file_player)

ROS_MASTER_URI=http://localhost:11311

process[file_player-1]: started with pid [9773]
Stamp data are loaded
[file_player-1] process has died [pid 9773, exit code -11, cmd /home/henry/lidar_ws/devel/lib/file_player/file_player __name:=file_player __log:=/home/henry/.ros/log/6d544fae-ad09-11ec-84ed-2c56dca361ef/file_player-1.log].
log file: /home/henry/.ros/log/6d544fae-ad09-11ec-84ed-2c56dca361ef/file_player-1*.log

It seems the name of .bin file in folder "/Ouster" is the timestamp of this scan. However I found the name may not have corresponding entry in "global_pose.csv". I want know is there any suggestion for getting a relative good ground truth pose for each Ouster scan.

I'm facing the following problem in Noetic, trying to load the Parking Lot demo sequence.
GDB's output is:

Thread 1 "file_player" received signal SIGSEGV, Segmentation fault.
__vfscanf_internal (s=0x0, format=0x5d4a0611efc0 "%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf\n", argptr=argptr@entry=0x7ffd0bac9320, mode_flags=mode_flags@entry=2) at vfscanf-internal.c:345
345     vfscanf-internal.c: No such file or directory.

The error points to the fscanf function call inside the src/ROSThread.cpp file @ line 152.

To be precise, it seems that the gps records are obligatory for the file_player to run and there is no check in the app whether there is the gps.csv file present in the sensor_data dir.

Basically, you cannot use the Parking Lot sequence using the file_player anymore.

Yet, I believe that it should be checked in the code if all the needed files are present. It took me couple of hours to understand what's going on here.

Currently, I'm waiting for the access to the MulRan dataset, as the demo data is no sufficient to test the player.

UPDATE: Yes, it's confirmed. Using the sequence DCC01, I'm able to start the file_player and expose the data using ROS topics. Do not use the Parking Lot sequence!

I use MulRan KAIST02 dastset, when i run file_player.launch, only imu topic ang ground truth topic are published, but os1_points topic sill has no new messages.
my dataset file is that
MulRan_02
sensor_data global_pose.csv
Ouster radar data_stamp.csv gps.csv navtech_top_stamp.csv ouster_front_stamp.csv xsens_imu.csv

can you help me

Hi,
It seems field "t" is not filled in conjunction with the other fields in the ouster scan topic. Is there a way to fix this or it is missing in bin files?

hi, i want to know did you provide the timestamp of each point of ouster lidar, and can i use this tool to save a rosbag directly

Why do I not have IMU and GPS information in the dataset I created by following the method you gave, I saved rosbag with record -a [topic]. Is there a more detailed process to create it?

Encountered the following compile error
error: #error PCL requires C++14 or above

Hi,

I'm unable to build the source using catkin_make. I'm using ROS Noetic (Ubuntu 20.04). The first issue was catkin_make failed to build opencv/cv.h and opencv/highgui.h (screenshot below)

I followed a recommended fix but it did not help. I now have a lot more build errors - majority are from member functions (screenshot below). Did you come across these problems? Any suggestions?

Encountered the following runtime error

[FATAL] [1698125361.856396475]: ASSERTION FAILED
        file = /opt/ros/noetic/include/ros/publisher.h
        line = 107
        cond = false
        message = 
[FATAL] [1698125361.859741635]: Call to publish() on an invalid Publisher
[FATAL] [1698125361.859824736]: 

[file_player-1] process has died [pid 244993, exit code -5, cmd /home/robot-nuc12/catkin_ws/devel/lib/file_player/file_player __name:=file_player __log:=/home/robot-nuc12/.ros/log/92662728-722d-11ee-8884-edfe5912eeb3/file_player-1.log].
log file: /home/robot-nuc12/.ros/log/92662728-722d-11ee-8884-edfe5912eeb3/file_player-1*.log

.
├── global_pose.csv
└── sensor_data
    ├── data_stamp.csv
    ├── gps.csv
    ├── navtech_top_stamp.csv
    ├── Ouster
    ├── ouster_front_stamp.csv
    ├── radar
    ├── sick_pointcloud.las
    └── xsens_imu.csv

Hi all,
I'd like to use this dataset for testing some algorithms.
However I have a problem with IMU and GPS data: I have correctly downloaded KAIST02 data (I have tried also with KAIST03) and I followed the procedure explained in the video for setting up the folder correctly.

Then, I launched the file_player via:
roslaunch file_player file_player.launch

Looking at the ros topics, I can see that only the topics "/clock", "/os1_points" and "/radar/polar" are publishing data, all the other topics, even if listed from "rostopic list" do not publish any data. This means that neither IMU nor GPS are being published.

Can you please help me in solving this issue?

This is the folder structure that I've set up:

global_pose.csv
sensor_data/
---- data_stamp.csv
---- gps.csv
---- navtech_top_stamp.csv
---- ouster_front_stamp.csv
---- xsens_imu.csv
---- Ouster/ (which is full of .bin files)
---- radar/polar/ (which is full of .png files)

This is the output from the terminal after launching the file_player:

$ roslaunch file_player file_player.launch
... logging to /home/andrea/.ros/log/0dea8eaa-4288-11ee-bbec-3f6d2e2f7e9f/roslaunch-andrea-HP-ZBook-Ubuntu20v-52264.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/andrea/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://andrea-HP-ZBook-Ubuntu20v:42895/

SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.16.0

NODES
/
file_player (file_player/file_player)

auto-starting new master
process[master]: started with pid [52283]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0dea8eaa-4288-11ee-bbec-3f6d2e2f7e9f
process[rosout-1]: started with pid [52304]
started core service [/rosout]
process[file_player-2]: started with pid [52307]
Please check the file path. The input path is wrong (data_stamp.csv not exist)
Stamp data are loaded
Gps data are loaded
IMU data are loaded

Working on ROS noetic and Ubuntu 20.04

Thanks in advance!

Hello,

I want to play the Mulran dataset. After I load the file and click play, the process would die. The command line output is as followed:

... logging to /home/yutouwd/.ros/log/84678ea4-69e4-11eb-ac3d-2f3f3c23690a/roslaunch-yutouwd-26449.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yutouwd:40347/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /
    file_player (file_player/file_player)

ROS_MASTER_URI=http://localhost:11311

process[file_player-1]: started with pid [26473]
Stamp data are loaded
[file_player-1] process has died [pid 26473, exit code -11, cmd /home/yutouwd/workspace/ScanContext/devel/lib/file_player/file_player __name:=file_player __log:=/home/yutouwd/.ros/log/84678ea4-69e4-11eb-ac3d-2f3f3c23690a/file_player-1.log].
log file: /home/yutouwd/.ros/log/84678ea4-69e4-11eb-ac3d-2f3f3c23690a/file_player-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I download the KAIST02 sequence and I have made it has the same file structure like the video :https://www.youtube.com/watch?v=uU-FC-GmHXA

├── global_pose.csv
└── sensor_data
    ├── data_stamp.csv
    ├── navtech_top_stamp.csv
    ├── Ouster
    ├── ouster_front_stamp.csv
    └── rader

Could you give me some instruction to fix the bug? Thanks a lot.

I am interested in using MulRan KAIST03. I have the data but I am unable to interpret it. Specifically, what does global_pose.csv have? what do the 13 columns represent?

Thanks a lot for your dataset and the interface to provide the data for the Lio-SAM implementation.
I tried it out with the KAIST02 and the Riverside03 dataset but in both cases not /imu/data_raw and /gps/fix is published. The point cloud and radar data are transmitted.
In the terminal I get following output:

`SUMMARY

PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.10

NODES
/
file_player (file_player/file_player)

ROS_MASTER_URI=http://localhost:11311

process[file_player-1]: started with pid [6708]
Gtk-Message: 15:52:00.452: GtkDialog mapped without a transient parent. This is discouraged.
Stamp data are loaded
Gps data are loaded
IMU data are loaded

`

Do you have any idea what I could do wrong?

Hello
You mentioned in your publication that there are LAS files with accurate created point cloud maps.
I could not find them in the project site. Is it possible to get exes to them?

Hi, how could i convert global poses to local map i.e something like this.

regarding this #5 I get a map of (latitude, longitude), but how could I get a result like the previous one from this map?