How can I create a AD dataset in ROS1 ?
Hello all,
We have an semi-autonomous experimental vehicle setup with LIDAR’s and cameras and ROS 1 (melodic)
Navigation stack running on an industrial PC.
I would like to create a KITTI type of dataset by capturing the data synchronously along with the ground truth poses.
Is this possible with ROS 1 which has an asynchronous running model ?
Can the ROS localization be taken as ground truth. We use VLP16 LIDAR with a stored LIDAR point cloud map for localization.
Can the time synchronization problem be solved with ROS 1 facilities like the one here:
http://wiki.ros.org/message_filters#Time_Synchronizer
Using a policy like ExactTime Policy and storing the data.
Or can I simply use a ROS bag file and do some approximate time synchronization and be done with that.
Thanks for your valuable hints and ideas…
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