radar-robotcar-dataset-ros

ROS interface of The Oxford Radar RobotCar Dataset

I’m glad to be provided access to download the full dataset. This interface is my first work on this dataset because I usually use ROS for research. This work is based on ROS1 Melodic/Noetic.

The Oxford Radar RobotCar Dataset is a radar extension to The Oxford RobotCar Dataset. We provide data from a Navtech CTS350-X Millimetre-Wave FMCW radar and Dual Velodyne HDL-32E LIDARs with optimised ground truth radar odometry for 280 km of driving around Oxford, UK (in addition to all sensors in the original Oxford RobotCar Dataset).

The official dataset and SDK are here:
radar-robotcar-dataset-sdk
Oxford Radar RobotCar Dataset

Sensor Suite

Cameras:
1 x Point Grey Bumblebee XB3
3 x Point Grey Grasshopper2

LIDAR:
2 x SICK LMS-151 2D LIDAR

GPS/INS:
1 x NovAtel SPAN-CPT ALIGN inertial and GPS navigation system

Radar:
1 x Navtech CTS350-X – Mounted in the centre of the roof aligned with the vehicles axes.

LIDAR:
2 x Velodyne HDL-32E – Mounted to the left and right of the Navtech CTS350-X radar.

This ROS interface doesn’t contain 2D LIDARs so far.

ROS Build

Before compiling this project, make sure that the relevant data of all sensors are in the above figure. If you only use some of them, you should comment on the code related to sensors not included in the main function (see src/Oxford_Sensors.cpp).

mkdir -p catkin_ws/src
cd catkin/src
git clone https://github.com/Rongxi-Zhang/radar-robotcar-dataset-ros.git
cd ..
rosdep install --from-paths src --ignore-src --rosdistro=melodic -y
catkin_make install -DCATKIN_WHITELIST_PACKAGES="radar_robotcar_dataset_ros"
source ~/catkin_ws/devel/setup.bash

ROS Launch

Please edit the launch file named Oxford_Sensors.launch under the launch folder. You can choose to save raw data as a rosbag or publish them directly.

<launch>
    <!-- Offical SDK -->
    <arg name="config_file" value=".../robotcar-dataset-sdk"/>
    <!-- Dataset Path -->
    <arg name="dataset_path" value=".../2019-01-10-14-36-48-radar-oxford-10k-partial"/>
    <!-- Save flag: 0 No, 1 Yes -->
    <arg name="save_flag" value="0"/>
    <!-- Save Path -->
    <arg name="save_path" value=".../2019-01-10-14-36-48-radar-oxford-10k-partial.bag" />
	<!--The following is hidden-->
</launch>

Then execute the command:

roslaunch radar_robotcar_dataset_ros OxFord_Sensors.launch

Operation Results

Topics:

Rviz:

rviz

Mapviz:

mapviz

A new version based on ROS2 Foxy will be released in the future. Because of the limited personal level, there are still some deficiencies and the need to improve the place, still, need to be perfect. I would appreciate it if you’d help me improve this project. If you have any questions just get in touch.
[email protected]

GitHub

View Github