File player for complex urban data set

Maintainer: Jinyong Jeong ([email protected])

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.

1. Obtain dependent package (defined msg)

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

2. Build workspace

$cd ~/catkin_ws
$catkin_make

3. Run file player

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

4. Load data files and play

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.