• Aug 2021: Our dataset is now available via this google-site (https://bit.ly/complex-urban-dataset).

This program is a file player for the complex urban data set. If a user installs the ROS using "Desktop-Full version", there is only one additional dependent package, except for the ROS default package. First, clone this package into the src folder of your desired ROS workspace.

Maintainer: Jinyong Jeong (jjy0923@kaist.ac.kr)

$cd ~/catkin_ws/src
$wstool init
$wstool merge file_player/depend_pack.rosinstall
$wstool update

$cd ~/catkin_ws
$catkin_make

$source devel/setup.bash
$roslaunch file_player file_player.launch

1. Click 'Load' button.
2. Choose data set folder including sensor_data folder and calibration folder.
3. The player button starts publishing data in the ROS message.
4. The Stop skip button skips data while the vehicle is stationary for convenience.
5. The loop button resumes when playback is finished.