No ground truth data - Githubissues

epan-utbm / utbm_robocar_dataset

EU Long-term Dataset with Multiple Sensors for Autonomous Driving

https://epan-utbm.github.io/utbm_robocar_dataset/

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No ground truth data #1

Closed hcaawu closed 3 years ago

hcaawu commented 5 years ago

I downloaded the bag file but there is no ros topic containing gps or ground truth data? Where can I find it? Thanks

yzrobot commented 5 years ago

Hi,

The topic for GPS-RTK (ground truth for localization) is /nmea_sentence.

To use it:

Download the driver https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/drivers/magellan_proflex500 and put it in your catkin_ws/src/

Put this code block in your launch file:

<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver"/>
<node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
<node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>

or check here: https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch

Cheers, Zhi

hcaawu commented 5 years ago

Thank you. Also, I tried to run the bag on 20180719 but the link provided is directed to 0713.

yzrobot commented 5 years ago

Thx for the feedback. The link is fixed.

limeng1523 commented 4 years ago

Hi, @yzrobot In baselines there is a package 'utbm_pose_estimation'. Can the output of this package be used as the groundtruth?

yzrobot commented 4 years ago

Hi, I don't think so (as the name "estimation"), the only one we can call “ground-truth” in the data we currently provide is the GPS-RTK, i.e. the /fix ROS topic. Cheers.

subshine commented 4 years ago

Hi,

The topic for GPS-RTK (ground truth for localization) is /nmea_sentence.

To use it:

Download the driver https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/drivers/magellan_proflex500 and put it in your catkin_ws/src/

Put this code block in your launch file:
<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver"/>
<node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
<node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>
or check here: https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch

Cheers, Zhi Hi ,How to /nmea_sentence ros topic convert to /fix ,I want to get gps data。 According to the above steps, it is not possible, can you be more detailed? Thanks!

yzrobot commented 4 years ago

Hi, hope this can help. rosgraph

subshine commented 4 years ago

Hi, hope this can help.

solved.Thx! main problem lack of https://github.com/ros-drivers/nmea_msgs package!