ROS-with-Kitti

New Package Setup

• Environment: WSL2 + Ubuntu20.04 + ROS Noetic
• Dataset: Kitti Raw Data https://www.cvlibs.net/datasets/kitti/raw_data.php
• Download the data [synced+rectified data] and calibration file [calibration] and extract in the folder structure like
  • /catkin_ws
  • /data
    • /2011_09_26
      • /2011_09_26_drive_xxxx_sync
        • /image_00
        • /image_01
        • /image_02
        • /image_03
        • /oxts
        • velodyne_points
      • calib_cam_to_cam
      • calib_imu_to_cam
      • calib_velo_to_cam
• Create package

  ~/ROS-with-Kitti/catkin_ws/src$ catkin_create_pkg kitti_tutorial rospy

• Create cmake

   ~/ROS-with-Kitti/catkin_ws$ catkin_make

• Create the .py of the test project in the package /src folder and make it executable

  ~/ROS-with-Kitti/catkin_ws/src/kitti_tutorial/src$ chmod +x kitti.py

• Run the script of ros topic

  ~/ROS-with-Kitti/catkin_ws/src/kitti_tutorial/src$ rosrun kitti_tutorial kitti.py

• If using WSL, I use Xlaunch to forward visualization like rviz and gazebo to Windows display
  • Install Xlaunch
  • Add these lines under .bashrc

    export GAZEBO_IP=127.0.0.1
    export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
    export LIBGL_ALWAYS_INDIRECT=0