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Nuscenes Visualization with ROS-Rviz

This package aims to visualize nuscenes dataset in rviz environment.

We fully export nuscenes data to standard ROS topics.

Visualizing for Nuscenes in ROS

# modify path in launch file as necessary
ros2 launch ros2_dataset_bridge nuscenes_launch.xml

Notice/TODO: Wait until the Logging INFO outputs nuscenes loaded, before toggling the GUI. The node is not responsive before nuscenes loaded.

gif

Key features

  • Nuscenes keyframes support.
  • Six cameras.
  • LiDARs.
  • Ground truth bounding boxes.
  • TF-trees (world, odom, base_link and sensors).
  • GUI control & ROS topic control.
  • Nuscenes sweeps support. (the images / lidar not synchronized well)
  • RADARs.

Setup

Install nuscenes-devkit

pip3 install nuscenes-devkit

This repo runs with ROS2 python3 (humble), and we expect PyQt5 correctly setup with ROS installation.

Clone the repo under the {workspace}/src/ folder. Overwrite the folder names in the launch file to point to your data.

Install and launch everything based on the Install Steps

Default Topics

Publish

topic name Description
/nuscenes/{channel}/image image.
/nuscenes/{channel}/camera_info intrinsic parameters.
/nuscenes/LIDAR_TOP/data Point cloud data.
/nuscenes/bboxes MarkerArray visualizing bounding boxes.