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sanduan168 / lifelong-SLAM-dataset

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LiDAR-lifelong-SLAM-dataset

This is the open LiDAR dataset for lifelong SLAM, please refer to the following paper: A General Framework for Lifelong Localization and Mapping in Changing Environment.

Requirements

The dataset is recorded by ROS recoder, and tested by the following ROS version:

  • indigo
  • kinetic
  • melodic

Data Name Format

year-month-date-hour-minute-second_index.bag_filtered.bag Exp: 2020-10-31-6-7-27_176.bag_filtered.bag is recorded on 2020/10/31, 6:7:27. The index of the bag is 176.

How to Get Dataset

Download files from Baidu Pan: https://pan.baidu.com/s/1JTTo76MEJGODd_T-HitPBw (code: ef3h)

Topic of Dataset

These bags include such topics:

  • poses under world frame: /localization/current_pose or /v5_current_pose
  • odometry fused by IMU and wheel encoder under base_odom frame: /odom
  • static transform between base_laser and base_link: /tf_static
  • dynamic transform between world and base_odom: /tf
  • pre denoised 2D LiDAR scan under base_laser: /scan
  • raw denoised 2D LiDAR scan under base_laser: /raw_scan
  • the IMU topic: /gyro
  • compressed 3D LiDAR pointclouds: /rslidar_packets and /rslidar_packets_difop

How to Check World Pose in Map

Step 1: Install ROS map_server:

sudo apt-get install ros-<version>-map-server

Step 2: Launch ROS and map server:

roscore
rosrun map_server map_server map.yaml _frame_id:="world"

Step 3: Play the bags:

rosbag play **.bag --clock

Note: For ease of use, we recommend you to use launch file:

roslaunch test_2D.launch

How to Get the original 3D pointclouds:

Step1 : Install RS-LIDAR driver:

cp ros_rslidar  ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_make

Step 2: Launch driver:

roslaunch test_3D.launch

Step 3: Play ros bag:

rosbag play *.bag --clock

Acknowledgements

We will upload our new data collected from our robots in real world timelessly! ^_^

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