DTU Roadrunners Autonomous Ecocar Race Track Dataset

DTU Roadrunners DatasetThis dataset contains data from a Velodyne VLP-16 Puck lidar, a ZED 2 stereo camera, a Swift Navigation Piksi Multi RTK GPS, and odometry, captured on the DTU Roadrunners Dynamo Ecocar.The data was captured at the race track at Roskilde Racing Center (RRC) in March - July 2020 and at the DTU Autonomous Vehicle Test Track in May 2020.For more information about the DTU Roadrunners project visit http://ecocar.dk/
Rosbag Content/clockTime
/velodyne_packetsRaw LIDAR point cloud from Velodyne VLP-16 Puck LIDAR
/gyro_angleRaw angle from gyroscope used for odometry
/car_pose_estimateOdometry with fieldsmsg_data->data[0], // xmsg_data->data[1], // ymsg_data->data[2], // zmsg_data->data[3], // orientationmsg_data->data[4], // speedmsg_data->data[5] // accelerationmsg_data->data[6] // driven_distance
SVO FileStereolabs ZED2 Stereo camera data with IMU.Images can be viewed using ZED Explorer, extracted with SVO Export, or published to ROS using the ROS wrapper.See https://www.stereolabs.com/docs/installation/ for more information.
GPS CSV FileBaseline, Position, and Velocity."Flags" column has following definition:0 Invalid1 Single Point Position (SPP)2 Differential GNSS (DGNSS)3 Float RTK4 Fixed RTK5 Undefined6 SBAS Position

Conversion of /velodyne_packets into sensor_msgs/PointCloud2Install velodyne drivers$ sudo apt-get install ros-melodic-velodyneLaunch cloud nodelet$ roslaunch cloud_nodelet_conversion.launchPlay bag file$ rosbag play X.bag