Convert Waymo Open Dataset dataset to ROS bag file the easy way!
If you want to get rosbag2 data, use https://gitlab.com/ternaris/rosbags.
- Docker (tested on 19.03.14)
build docker for waymo2bag:
docker build -f docker/Dockerfile -t waymo2bag .You can convert tfrecord to rosbag with a following command:
All tfrecord files in /path_to_tfrecord are converted to rosbag.
docker run \
-v /path_to_tfrecord/data/tfrecord \
-v ${PWD}/rosbag:/data/rosbag \
-it waymo2bag waymo2bagIf you want to run docker interactively:
docker run \
-v /path_to_tfrecord:/data/tfrecord \
-v ${PWD}/rosbag:/data/rosbag \
-it waymo2bag bashConverted rosbag info:
$ rosbag info segment-10203656353524179475_7625_000_7645_000_with_camera_labels.bag
path: segment-10203656353524179475_7625_000_7645_000_with_camera_labels.bag
version: 2.0
duration: 19.7s
start: Apr 03 2018 01:53:34.97 (1522688014.97)
end: Apr 03 2018 01:53:54.67 (1522688034.67)
size: 6.7 GB
messages: 2376
compression: none [1386/1386 chunks]
types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /camera/front/image 198 msgs : sensor_msgs/Image
/camera/front_left/image 198 msgs : sensor_msgs/Image
/camera/front_right/image 198 msgs : sensor_msgs/Image
/camera/side_left/image 198 msgs : sensor_msgs/Image
/camera/side_right/image 198 msgs : sensor_msgs/Image
/lidar/concatenated/pointcloud 198 msgs : sensor_msgs/PointCloud2
/lidar/front/pointcloud 198 msgs : sensor_msgs/PointCloud2
/lidar/rear/pointcloud 198 msgs : sensor_msgs/PointCloud2
/lidar/side_left/pointcloud 198 msgs : sensor_msgs/PointCloud2
/lidar/side_right/pointcloud 198 msgs : sensor_msgs/PointCloud2
/lidar/top/pointcloud 198 msgs : sensor_msgs/PointCloud2
/tf 198 msgs : tf2_msgs/TFMessage