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ROS package to publish the KITTI-360 dataset.

License: BSD 3-Clause "New" or "Revised" License

CMake 5.99% Python 94.01%
kitti-360 kitti-dataset robotics ros ros2

kitti360_ros_player's People

Contributors

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Forkers

gitglob yongseop whu-lyh michaelfyang kraft2k zhangzw12319 phil0stine junyang0412

kitti360_ros_player's Issues

Port to ROS2

Create a branch ros2 and adjust launch file and code such that everything works with ROS2.

Static transforms are inaccurate

Currently, the static transforms as visualized in the docs are used, which are not accurate. The transforms as provided in the config files should by used in instead.

getch() termios error

When running the ROS 2 version on Ubuntu 22.04, ROS 2 Humble, and python 3.10.6 the following error occurs:

[publisher_node-1] Exception in thread Thread-1 (terminal_sim_control):
[publisher_node-1] Traceback (most recent call last):
[publisher_node-1]   File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
[publisher_node-1]     self.run()
[publisher_node-1]   File "/usr/lib/python3.10/threading.py", line 953, in run
[publisher_node-1]     self._target(*self._args, **self._kwargs)
[publisher_node-1]   File "/home/glob/kitti_ws/build/kitti360_publisher/kitti360_publisher/kitti360_publisher_node.py", line 1755, in terminal_sim_control
[publisher_node-1]     key_map[getch()]()
[publisher_node-1]   File "/home/glob/kitti_ws/build/kitti360_publisher/kitti360_publisher/kitti360_publisher_node.py", line 1964, in getch
[publisher_node-1]     oldterm = termios.tcgetattr(fd)
[publisher_node-1] termios.error: (25, 'Inappropriate ioctl for device')

The ros2 player then proceeds to publish the topics normally but the Keboard Mappings do not work.

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