├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── laser │ ├── mapping_plattform │ │ ├── lidar.json │ │ └── lidar.yaml │ └── vehicle │ │ ├── lidar_front.json │ │ ├── lidar_front.yaml │ │ ├── lidar_middle_left.json │ │ ├── lidar_middle_left.yaml │ │ ├── lidar_middle_right.json │ │ ├── lidar_middle_right.yaml │ │ ├── lidar_top.json │ │ └── lidar_top.yaml ├── mapping_plattform.rviz └── vehicle.rviz ├── docs ├── 1_university_campus.jpg ├── 2_campus_murpark.jpg ├── 3_murpark_a2_murpark.jpg ├── 4_murpark_campus.jpg ├── 6_campus_city_center_campus.jpg ├── gpx_design_inner_city.jpg ├── gpx_design_park.jpg ├── vehicle_4_lidars.png └── vehicle_sensor_positions.png ├── gpx ├── 1_university_campus.kml ├── 2_campus_murpark.kml ├── 3_murpark_a2_murpark.kml ├── 4_murpark_campus.kml ├── 5_vehilce_4_lidars.kml ├── 6_campus_city_center_campus.kml ├── inner_city.gpx └── park.gpx ├── launch ├── ouster_config_file.launch ├── replay_mapping_plattform.launch └── replay_vehicle.launch └── package.xml /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(mapping_dataset_styria) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED) 11 | 12 | 13 | 14 | ################################### 15 | ## catkin specific configuration ## 16 | ################################### 17 | ## The catkin_package macro generates cmake config files for your package 18 | ## Declare things to be passed to dependent projects 19 | ## INCLUDE_DIRS: uncomment this if your package contains header files 20 | ## LIBRARIES: libraries you create in this project that dependent projects also need 21 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 22 | ## DEPENDS: system dependencies of this project that dependent projects also need 23 | catkin_package( 24 | # INCLUDE_DIRS include 25 | # LIBRARIES vifware_data_tugraz 26 | # CATKIN_DEPENDS other_catkin_pkg 27 | # DEPENDS system_lib 28 | ) 29 | 30 | 31 | ############# 32 | ## Install ## 33 | ############# 34 | 35 | install(DIRECTORY config/ 36 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config 37 | ) 38 | 39 | install(DIRECTORY launch/ 40 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch 41 | ) 42 | 43 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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To reduce the amount of data only the top-mounted lidar on the vehicle was recorded for all ROSBAGs. One recording includes as well the front/left and right placed Lidars. A high-precision RTK-GPS from NovAtel was used for some recordings to have a ground truth for the positioning. 56 | 57 | | Type | Sensor | Topic| Frequency | 58 | | ------ | ------ | ------ | ------ | 59 | | Lidar | 1x Ouster OS2-128 | /lidar_top/points | 10Hz | 60 | | IMU | XSens MTi-630 | /sensing/imu/imu_data | >=200Hz | 61 | | GPS | u-blox F9P | /sensing/ublox_f9p/fix /sensing/ublox_f9p/speed | 5Hz | 62 | | Lidar (optional) | 3x Ouster OS0-64 | /lidar_front/points /lidar_middle_left/points /lidar_middle_right/points | 10Hz | 63 | | GPS (optional) | NovAtel ProPak6 | /sensing/novatel/fix | 100Hz | 64 | 65 | 66 | 67 | 68 | ![alt text](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/vehicle_sensor_positions.png?raw=true) 69 | 70 | 71 | ### Graz University of Technology Campus (driving, low speed): 72 | 73 | **Duration:** 21:02s (1232s) 74 | **Size:** 29.5 GB 75 | 76 | ![University Campus](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/1_university_campus.jpg?raw=true "University Campus") 77 | 78 | university_campus_2021-01-25-15-59-55_0.zip 79 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYY8Z-SuraJJntc1KN6JoqAB4kFQvc0VKSQBq-wZqi6lUQ?e=Vbm6c1 80 | university_campus_2021-01-25-16-14-56_1.zip 81 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EbW-cuGCy15Bnm5G7mHsi9EBrBWb0B9A6TziWNnmJmYb5w?e=DOkFAp 82 | 83 | 84 | ### Graz Inner City (driving): 85 | 86 | **Duration:** 29:13s (1753s) 87 | **Size:** 49.3 GB 88 | 89 | ![Graz Inner City](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/6_campus_city_center_campus.jpg?raw=true "Graz Inner City") 90 | 91 | campus_city_center_campus_2021-01-22-04-29-34_0.zip 92 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EfM4Cnom_2xDtMWHsy7JlsEBn5_cVf3LAHaevfGGcMoBbQ?e=Jj8tEa 93 | campus_city_center_campus_2021-01-22-04-39-06_1.zip 94 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUK2b3I1Io5DpWmhkEN393ABMzT8qTSVxz-b59tdYBcSlQ?e=htEwZK 95 | campus_city_center_campus_2021-01-22-04-48-33_2.zip 96 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EaDhvYbyPqRHokSmmqpn5KMB4CD43_V4AJuSMqnM4aVU2A?e=duwbh2 97 | campus_city_center_campus_2021-01-22-04-57-55_3.zip 98 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUpGTkRbiDpMvq6P50-vtKABbXR24OFvFstzwSINCC2HuA?e=7qM1Z4 99 | 100 | 101 | ### Urban Environment 1 (Graz University of Technology -> Murpark): 102 | 103 | **Duration:** 10:06s (606s) 104 | **Size:** 9.9 GB 105 | 106 | ![Urban environment 1](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/2_campus_murpark.jpg?raw=true "Urban environment 1") 107 | 108 | campus_murpark_2021-03-16-16-27-02_0.zip 109 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EXiXlPWXwTBDni7krobKF7YBN1d6THEEux7I2fT8qPux7w?e=y23xBA 110 | campus_murpark_2021-03-16-16-30-00_1.zip 111 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ESV9n6LFv_NOtsZse4cJDZABgfhkUL3U1BWGIbdkfZXV-w?e=iAgYTq 112 | campus_murpark_2021-03-16-16-33-07_2.zip 113 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQ9dDOPOx-pAkSNq0aIi8jwBEcl5Z0xfSt9GN79BtpHwLA?e=RVXeam 114 | campus_murpark_2021-03-16-16-36-13_3.zip 115 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZJdS-YpAlZPtgvbyFEO2m8BQZMRFCwHd2yw3vs305NeWg?e=dcZaWb 116 | 117 | 118 | ### Motorway (Murpark -> A2 -> Murpark): 119 | 120 | **Duration:** 12:18s (738s) 121 | **Size:** 10.2 GB 122 | 123 | ![Motorway](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/3_murpark_a2_murpark.jpg?raw=true "University Campus") 124 | 125 | murpark_a2_murpark_2021-03-16-16-37-19_0.zip 126 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ET3pY37xB0hJgrjeV400q5EB1ajXSDfW875tcvEzdJW4iw?e=kbBUDx 127 | murpark_a2_murpark_2021-03-16-16-40-27_1.zip 128 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZu51bCyDLlGqeQYYJvxG1kB61-J5s9TbbLBYuo6TzymfQ?e=2mX6Oo 129 | murpark_a2_murpark_2021-03-16-16-43-26_2.zip 130 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZUTXDD-IBhGrPgtGwfznF0BWl4d6BZpJw6q80hfAQlE2Q?e=0HdvhZ 131 | murpark_a2_murpark_2021-03-16-16-46-31_3.zip 132 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYy5JDHWXdBDoaWhfufqnWoBVOhpLcKaMplGz7PerqqSCA?e=Uz7fZD 133 | 134 | 135 | 136 | ### Urban environment 2 (Murpark -> Graz University of Technology): 137 | 138 | **Duration:** 06:04s (364s) 139 | **Size:** 5.4 GB 140 | 141 | ![Urban environment 2](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/4_murpark_campus.jpg?raw=true "Urban environment 2") 142 | 143 | murpark_campus_2021-03-16-17-26-26_0.zip 144 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZVz2fplA0lIpQfTpk5THo0B1kdWCJvVsw8owEHQCGtA6A?e=LUPXRQ 145 | murpark_campus_2021-03-16-17-29-27_1.zip 146 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EdI-CAfcBKBAkuJScWNCIsYBfDl8REw-XoLTGZqlLfXkrQ?e=VakPSH 147 | 148 | 149 | ### 4x Lidars (Graz University of Technology Campus): 150 | 151 | **Duration:** 18:44s (1124s) 152 | **Size:** 35.3 GB 153 | 154 | ![Vehicle 4xLidar setup](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/vehicle_4_lidars.png?raw=true "Vehicle 4xLidar setup") 155 | 156 | vehicle_4_lidars_2021-01-22-05-36-56_0.zip 157 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUccCxSWKSZCtzg65ZyeSjIBrvjRLBfjdh44oNno9F19fw?e=gX1ZEw 158 | vehicle_4_lidars_2021-01-22-05-46-24_1.zip 159 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQznXe0z351AndrMzUBBIOkBkSeRpHzmnJJyRuagFVvNug?e=2WWqIC 160 | vehicle_4_lidars_2021-01-22-05-55-41_2.zip 161 | https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUkwtvFQFhBLsPaoEUDdlXoBdvf9EwAMMRkxbArNUiTUbQ?e=fi4TuT 162 | 163 | 164 | ## Installation 165 | 166 | ``` 167 | cd ~/mapping_ws/src 168 | git clone https://github.com/ARTI-Robots/mapping_dataset_styria.git 169 | git clone https://github.com/virtual-vehicle-research/ouster_example.git 170 | cd .. 171 | catkin_make 172 | ``` 173 | 174 | 175 | 176 | ## Run the package with mapping plattform (walking) 177 | 178 | ``` 179 | roscore 180 | ``` 181 | 182 | ``` 183 | roslaunch mapping_dataset_styria replay_mapping_plattform.launch 184 | ``` 185 | 186 | ``` 187 | rosbag play ROSBAG.bag --clock 188 | ``` 189 | 190 | ## Run the package with vehicle plattform (driving) 191 | 192 | ``` 193 | roscore 194 | ``` 195 | 196 | ``` 197 | roslaunch mapping_dataset_styria replay_vehicle.launch 198 | ``` 199 | 200 | ``` 201 | rosbag play ROSBAG.bag --clock 202 | ``` 203 | 204 | ## Powered by 205 | 206 | [ARTI - Autonomous Robot Technology GmbH](http://arti-robots.com) 207 | 208 | [Virtual Vehicle Research GmbH](https://www.v2c2.at/) 209 | 210 | 211 | -------------------------------------------------------------------------------- /config/laser/mapping_plattform/lidar.json: -------------------------------------------------------------------------------- 1 | { 2 | "base_pn": "000-101323-03", 3 | "base_sn": "101837000683", 4 | "beam_altitude_angles": 5 | [ 6 | 16.721, 7 | 16.121, 8 | 15.555, 9 | 15.013, 10 | 14.529, 11 | 13.957, 12 | 13.398, 13 | 12.866, 14 | 12.396, 15 | 11.835, 16 | 11.284, 17 | 10.757, 18 | 10.282, 19 | 9.73, 20 | 9.176, 21 | 8.657, 22 | 8.193, 23 | 7.639, 24 | 7.101, 25 | 6.566, 26 | 6.107, 27 | 5.56, 28 | 5.017, 29 | 4.482, 30 | 4.025, 31 | 3.481, 32 | 2.939, 33 | 2.406, 34 | 1.943, 35 | 1.402, 36 | 0.86, 37 | 0.323, 38 | -0.141, 39 | -0.675, 40 | -1.218, 41 | -1.762, 42 | -2.225, 43 | -2.762, 44 | -3.301, 45 | -3.847, 46 | -4.31, 47 | -4.846, 48 | -5.384, 49 | -5.935, 50 | -6.394, 51 | -6.937, 52 | -7.471, 53 | -8.02, 54 | -8.493, 55 | -9.03, 56 | -9.567, 57 | -10.125, 58 | -10.596, 59 | -11.127, 60 | -11.671, 61 | -12.237, 62 | -12.715, 63 | -13.261, 64 | -13.806, 65 | -14.382, 66 | -14.881, 67 | -15.416, 68 | -15.972, 69 | -16.579 70 | ], 71 | "beam_azimuth_angles": 72 | [ 73 | 3.11, 74 | 0.946, 75 | -1.201, 76 | -3.337, 77 | 3.089, 78 | 0.956, 79 | -1.17, 80 | -3.282, 81 | 3.069, 82 | 0.954, 83 | -1.153, 84 | -3.247, 85 | 3.065, 86 | 0.96, 87 | -1.129, 88 | -3.212, 89 | 3.059, 90 | 0.979, 91 | -1.105, 92 | -3.175, 93 | 3.087, 94 | 0.986, 95 | -1.084, 96 | -3.164, 97 | 3.082, 98 | 1.001, 99 | -1.074, 100 | -3.146, 101 | 3.085, 102 | 1.021, 103 | -1.041, 104 | -3.116, 105 | 3.101, 106 | 1.036, 107 | -1.03, 108 | -3.111, 109 | 3.129, 110 | 1.06, 111 | -1.003, 112 | -3.097, 113 | 3.159, 114 | 1.079, 115 | -1.002, 116 | -3.086, 117 | 3.181, 118 | 1.111, 119 | -0.979, 120 | -3.064, 121 | 3.217, 122 | 1.111, 123 | -0.979, 124 | -3.07, 125 | 3.257, 126 | 1.151, 127 | -0.956, 128 | -3.068, 129 | 3.295, 130 | 1.179, 131 | -0.947, 132 | -3.079, 133 | 3.354, 134 | 1.218, 135 | -0.935, 136 | -3.094 137 | ], 138 | "build_date": "2020-11-24T06:51:26Z", 139 | "build_rev": "v2.0.0", 140 | "client_version": "0.1.0", 141 | "data_format": 142 | { 143 | "column_window": 144 | [ 145 | 0, 146 | 2047 147 | ], 148 | "columns_per_frame": 2048, 149 | "columns_per_packet": 16, 150 | "pixel_shift_by_row": 151 | [ 152 | 37, 153 | 24, 154 | 12, 155 | 0, 156 | 37, 157 | 24, 158 | 12, 159 | 0, 160 | 36, 161 | 24, 162 | 12, 163 | 1, 164 | 36, 165 | 24, 166 | 13, 167 | 1, 168 | 36, 169 | 25, 170 | 13, 171 | 1, 172 | 37, 173 | 25, 174 | 13, 175 | 1, 176 | 37, 177 | 25, 178 | 13, 179 | 1, 180 | 37, 181 | 25, 182 | 13, 183 | 1, 184 | 37, 185 | 25, 186 | 13, 187 | 1, 188 | 37, 189 | 25, 190 | 13, 191 | 1, 192 | 37, 193 | 25, 194 | 13, 195 | 1, 196 | 37, 197 | 25, 198 | 13, 199 | 2, 200 | 37, 201 | 25, 202 | 13, 203 | 2, 204 | 38, 205 | 26, 206 | 14, 207 | 2, 208 | 38, 209 | 26, 210 | 14, 211 | 1, 212 | 38, 213 | 26, 214 | 14, 215 | 1 216 | ], 217 | "pixels_per_column": 64 218 | }, 219 | "hostname": "192.168.1.90", 220 | "image_rev": "ousteros-image-prod-aries-v2.0.0+20201124065024", 221 | "imu_to_sensor_transform": 222 | [ 223 | 1, 224 | 0, 225 | 0, 226 | 6.253, 227 | 0, 228 | 1, 229 | 0, 230 | -11.775, 231 | 0, 232 | 0, 233 | 1, 234 | 7.645, 235 | 0, 236 | 0, 237 | 0, 238 | 1 239 | ], 240 | "lidar_mode": "2048x10", 241 | "lidar_origin_to_beam_origin_mm": 12.163, 242 | "lidar_to_sensor_transform": 243 | [ 244 | -1, 245 | 0, 246 | 0, 247 | 0, 248 | 0, 249 | -1, 250 | 0, 251 | 0, 252 | 0, 253 | 0, 254 | 1, 255 | 36.18, 256 | 0, 257 | 0, 258 | 0, 259 | 1 260 | ], 261 | "prod_line": "OS-1-64", 262 | "prod_pn": "840-101855-02", 263 | "prod_sn": "991935000595", 264 | "proto_rev": "v1.1.1", 265 | "status": "RUNNING" 266 | } 267 | -------------------------------------------------------------------------------- /config/laser/mapping_plattform/lidar.yaml: -------------------------------------------------------------------------------- 1 | name: lidar # name which is used in the node name 2 | type: laser # type specifier currently unused 3 | sensor_hostname: 192.168.1.90 # hostname or IP in dotted decimal form of the sensor 4 | udp_dest: 192.168.1.100 # port to which the sensor should send lidar data 5 | lidar_port: 7508 # port to which the sensor should send lidar data 6 | imu_port: 7509 # port to which the sensor should send imu data 7 | lidar_mode: 2048x10 # resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10 8 | timestamp_mode: TIME_FROM_PTP_1588 # method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588 9 | image: false # publish range/intensity/noise image topic 10 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_front.json: -------------------------------------------------------------------------------- 1 | { 2 | "base_pn": "830-101845-E", 3 | "base_sn": "102005001266", 4 | "beam_altitude_angles": 5 | [ 6 | 45.82, 7 | 44.11, 8 | 42.85, 9 | 41.17, 10 | 39.93, 11 | 38.24, 12 | 36.99, 13 | 35.32, 14 | 34.06, 15 | 32.42, 16 | 31.15, 17 | 29.54, 18 | 28.26, 19 | 26.67, 20 | 25.38, 21 | 23.81, 22 | 22.51, 23 | 20.97, 24 | 19.66, 25 | 18.15, 26 | 16.82, 27 | 15.33, 28 | 13.99, 29 | 12.53, 30 | 11.18, 31 | 9.73, 32 | 8.37, 33 | 6.94, 34 | 5.56, 35 | 4.16, 36 | 2.77, 37 | 1.37, 38 | -0.04, 39 | -1.41, 40 | -2.84, 41 | -4.19, 42 | -5.64, 43 | -6.99, 44 | -8.45, 45 | -9.79, 46 | -11.28, 47 | -12.59, 48 | -14.11, 49 | -15.41, 50 | -16.95, 51 | -18.25, 52 | -19.8, 53 | -21.08, 54 | -22.67, 55 | -23.94, 56 | -25.55, 57 | -26.81, 58 | -28.44, 59 | -29.7, 60 | -31.35, 61 | -32.6, 62 | -34.28, 63 | -35.53, 64 | -37.24, 65 | -38.48, 66 | -40.22, 67 | -41.46, 68 | -43.23, 69 | -44.47 70 | ], 71 | "beam_azimuth_angles": 72 | [ 73 | 10.85, 74 | -3.53, 75 | 10.46, 76 | -3.4, 77 | 10.11, 78 | -3.28, 79 | 9.81, 80 | -3.19, 81 | 9.56, 82 | -3.11, 83 | 9.33, 84 | -3.04, 85 | 9.13, 86 | -2.97, 87 | 8.96, 88 | -2.92, 89 | 8.82, 90 | -2.87, 91 | 8.69, 92 | -2.84, 93 | 8.59, 94 | -2.81, 95 | 8.51, 96 | -2.79, 97 | 8.44, 98 | -2.77, 99 | 8.4, 100 | -2.76, 101 | 8.36, 102 | -2.75, 103 | 8.33, 104 | -2.75, 105 | 8.32, 106 | -2.76, 107 | 8.34, 108 | -2.76, 109 | 8.36, 110 | -2.78, 111 | 8.39, 112 | -2.8, 113 | 8.44, 114 | -2.82, 115 | 8.51, 116 | -2.86, 117 | 8.59, 118 | -2.89, 119 | 8.69, 120 | -2.93, 121 | 8.81, 122 | -2.99, 123 | 8.94, 124 | -3.04, 125 | 9.1, 126 | -3.11, 127 | 9.3, 128 | -3.19, 129 | 9.52, 130 | -3.28, 131 | 9.78, 132 | -3.39, 133 | 10.09, 134 | -3.51, 135 | 10.45, 136 | -3.66 137 | ], 138 | "build_date": "2020-11-24T06:51:26Z", 139 | "build_rev": "v2.0.0", 140 | "client_version": "0.1.0", 141 | "data_format": 142 | { 143 | "column_window": 144 | [ 145 | 0, 146 | 1023 147 | ], 148 | "columns_per_frame": 1024, 149 | "columns_per_packet": 16, 150 | "pixel_shift_by_row": 151 | [ 152 | 62, 153 | 21, 154 | 61, 155 | 21, 156 | 60, 157 | 22, 158 | 59, 159 | 22, 160 | 58, 161 | 22, 162 | 58, 163 | 22, 164 | 57, 165 | 23, 166 | 56, 167 | 23, 168 | 56, 169 | 23, 170 | 56, 171 | 23, 172 | 55, 173 | 23, 174 | 55, 175 | 23, 176 | 55, 177 | 23, 178 | 55, 179 | 23, 180 | 55, 181 | 23, 182 | 55, 183 | 23, 184 | 55, 185 | 23, 186 | 55, 187 | 23, 188 | 55, 189 | 23, 190 | 55, 191 | 23, 192 | 55, 193 | 23, 194 | 55, 195 | 23, 196 | 55, 197 | 23, 198 | 56, 199 | 23, 200 | 56, 201 | 22, 202 | 56, 203 | 22, 204 | 57, 205 | 22, 206 | 57, 207 | 22, 208 | 58, 209 | 22, 210 | 59, 211 | 21, 212 | 60, 213 | 21, 214 | 61, 215 | 21 216 | ], 217 | "pixels_per_column": 64 218 | }, 219 | "hostname": "192.168.1.71", 220 | "image_rev": "ousteros-image-prod-aries-v2.0.0+20201124065024", 221 | "imu_to_sensor_transform": 222 | [ 223 | 1, 224 | 0, 225 | 0, 226 | 6.253, 227 | 0, 228 | 1, 229 | 0, 230 | -11.775, 231 | 0, 232 | 0, 233 | 1, 234 | 7.645, 235 | 0, 236 | 0, 237 | 0, 238 | 1 239 | ], 240 | "lidar_mode": "1024x10", 241 | "lidar_origin_to_beam_origin_mm": 27.67, 242 | "lidar_to_sensor_transform": 243 | [ 244 | -1, 245 | 0, 246 | 0, 247 | 0, 248 | 0, 249 | -1, 250 | 0, 251 | 0, 252 | 0, 253 | 0, 254 | 1, 255 | 36.18, 256 | 0, 257 | 0, 258 | 0, 259 | 1 260 | ], 261 | "prod_line": "OS-0-64-U13", 262 | "prod_pn": "840-102144-B", 263 | "prod_sn": "992013000189", 264 | "proto_rev": "v1.1.1", 265 | "status": "RUNNING" 266 | } 267 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_front.yaml: -------------------------------------------------------------------------------- 1 | name: lidar_front # name which is used in the node name 2 | type: laser # type specifier currently unused 3 | sensor_hostname: 192.168.1.71 # hostname or IP in dotted decimal form of the sensor 4 | udp_dest: 192.168.1.100 # port to which the sensor should send lidar data 5 | lidar_port: 7502 # port to which the sensor should send lidar data 6 | imu_port: 7503 # port to which the sensor should send imu data 7 | lidar_mode: 1024x10 # resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10 8 | timestamp_mode: TIME_FROM_PTP_1588 # method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588 9 | image: false # publish range/intensity/noise image topic 10 | 11 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_middle_left.json: -------------------------------------------------------------------------------- 1 | { 2 | "base_pn": "830-101845-E", 3 | "base_sn": "102005001431", 4 | "beam_altitude_angles": 5 | [ 6 | 46.03, 7 | 44.29, 8 | 43.04, 9 | 41.31, 10 | 40.08, 11 | 38.37, 12 | 37.12, 13 | 35.44, 14 | 34.19, 15 | 32.53, 16 | 31.27, 17 | 29.64, 18 | 28.37, 19 | 26.77, 20 | 25.48, 21 | 23.9, 22 | 22.61, 23 | 21.06, 24 | 19.75, 25 | 18.23, 26 | 16.92, 27 | 15.41, 28 | 14.09, 29 | 12.61, 30 | 11.26, 31 | 9.81, 32 | 8.46, 33 | 7.01, 34 | 5.65, 35 | 4.22, 36 | 2.84, 37 | 1.43, 38 | 0.03, 39 | -1.36, 40 | -2.77, 41 | -4.14, 42 | -5.59, 43 | -6.94, 44 | -8.41, 45 | -9.75, 46 | -11.24, 47 | -12.56, 48 | -14.06, 49 | -15.38, 50 | -16.92, 51 | -18.22, 52 | -19.77, 53 | -21.07, 54 | -22.64, 55 | -23.92, 56 | -25.53, 57 | -26.81, 58 | -28.42, 59 | -29.7, 60 | -31.34, 61 | -32.6, 62 | -34.27, 63 | -35.54, 64 | -37.23, 65 | -38.5, 66 | -40.22, 67 | -41.49, 68 | -43.26, 69 | -44.51 70 | ], 71 | "beam_azimuth_angles": 72 | [ 73 | 10.89, 74 | -3.57, 75 | 10.49, 76 | -3.44, 77 | 10.12, 78 | -3.32, 79 | 9.82, 80 | -3.22, 81 | 9.55, 82 | -3.14, 83 | 9.32, 84 | -3.06, 85 | 9.14, 86 | -3.01, 87 | 8.97, 88 | -2.94, 89 | 8.82, 90 | -2.89, 91 | 8.69, 92 | -2.86, 93 | 8.6, 94 | -2.83, 95 | 8.52, 96 | -2.8, 97 | 8.44, 98 | -2.78, 99 | 8.39, 100 | -2.76, 101 | 8.36, 102 | -2.76, 103 | 8.34, 104 | -2.76, 105 | 8.34, 106 | -2.75, 107 | 8.35, 108 | -2.76, 109 | 8.37, 110 | -2.77, 111 | 8.41, 112 | -2.79, 113 | 8.46, 114 | -2.82, 115 | 8.53, 116 | -2.84, 117 | 8.6, 118 | -2.88, 119 | 8.71, 120 | -2.92, 121 | 8.83, 122 | -2.96, 123 | 8.96, 124 | -3.02, 125 | 9.14, 126 | -3.08, 127 | 9.33, 128 | -3.15, 129 | 9.56, 130 | -3.25, 131 | 9.83, 132 | -3.33, 133 | 10.14, 134 | -3.46, 135 | 10.51, 136 | -3.59 137 | ], 138 | "build_date": "2020-11-24T06:51:26Z", 139 | "build_rev": "v2.0.0", 140 | "client_version": "0.1.0", 141 | "data_format": 142 | { 143 | "column_window": 144 | [ 145 | 0, 146 | 1023 147 | ], 148 | "columns_per_frame": 1024, 149 | "columns_per_packet": 16, 150 | "pixel_shift_by_row": 151 | [ 152 | 62, 153 | 21, 154 | 61, 155 | 21, 156 | 60, 157 | 22, 158 | 59, 159 | 22, 160 | 58, 161 | 22, 162 | 58, 163 | 22, 164 | 57, 165 | 22, 166 | 57, 167 | 23, 168 | 56, 169 | 23, 170 | 56, 171 | 23, 172 | 55, 173 | 23, 174 | 55, 175 | 23, 176 | 55, 177 | 23, 178 | 55, 179 | 23, 180 | 55, 181 | 23, 182 | 55, 183 | 23, 184 | 55, 185 | 23, 186 | 55, 187 | 23, 188 | 55, 189 | 23, 190 | 55, 191 | 23, 192 | 55, 193 | 23, 194 | 55, 195 | 23, 196 | 55, 197 | 23, 198 | 56, 199 | 23, 200 | 56, 201 | 23, 202 | 56, 203 | 22, 204 | 57, 205 | 22, 206 | 58, 207 | 22, 208 | 58, 209 | 22, 210 | 59, 211 | 22, 212 | 60, 213 | 21, 214 | 61, 215 | 21 216 | ], 217 | "pixels_per_column": 64 218 | }, 219 | "hostname": "192.168.1.72", 220 | "image_rev": "ousteros-image-prod-aries-v2.0.0+20201124065024", 221 | "imu_to_sensor_transform": 222 | [ 223 | 1, 224 | 0, 225 | 0, 226 | 6.253, 227 | 0, 228 | 1, 229 | 0, 230 | -11.775, 231 | 0, 232 | 0, 233 | 1, 234 | 7.645, 235 | 0, 236 | 0, 237 | 0, 238 | 1 239 | ], 240 | "lidar_mode": "1024x10", 241 | "lidar_origin_to_beam_origin_mm": 27.67, 242 | "lidar_to_sensor_transform": 243 | [ 244 | -1, 245 | 0, 246 | 0, 247 | 0, 248 | 0, 249 | -1, 250 | 0, 251 | 0, 252 | 0, 253 | 0, 254 | 1, 255 | 36.18, 256 | 0, 257 | 0, 258 | 0, 259 | 1 260 | ], 261 | "prod_line": "OS-0-64-U13", 262 | "prod_pn": "840-102144-B", 263 | "prod_sn": "992013000187", 264 | "proto_rev": "v1.1.1", 265 | "status": "RUNNING" 266 | } 267 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_middle_left.yaml: -------------------------------------------------------------------------------- 1 | name: lidar_middle_left # name which is used in the node name 2 | type: laser # type specifier currently unused 3 | sensor_hostname: 192.168.1.73 # hostname or IP in dotted decimal form of the sensor 4 | udp_dest: 192.168.1.100 # port to which the sensor should send lidar data 5 | lidar_port: 7504 # port to which the sensor should send lidar data 6 | imu_port: 7505 # port to which the sensor should send imu data 7 | lidar_mode: 1024x10 # resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10 8 | timestamp_mode: TIME_FROM_PTP_1588 # method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588 9 | image: false # publish range/intensity/noise image topic 10 | 11 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_middle_right.json: -------------------------------------------------------------------------------- 1 | { 2 | "base_pn": "830-101845-E", 3 | "base_sn": "102005001377", 4 | "beam_altitude_angles": 5 | [ 6 | 46.13, 7 | 44.38, 8 | 43.12, 9 | 41.4, 10 | 40.15, 11 | 38.44, 12 | 37.18, 13 | 35.5, 14 | 34.23, 15 | 32.59, 16 | 31.31, 17 | 29.68, 18 | 28.4, 19 | 26.8, 20 | 25.51, 21 | 23.93, 22 | 22.62, 23 | 21.08, 24 | 19.76, 25 | 18.24, 26 | 16.91, 27 | 15.41, 28 | 14.08, 29 | 12.6, 30 | 11.25, 31 | 9.8, 32 | 8.44, 33 | 7, 34 | 5.63, 35 | 4.22, 36 | 2.82, 37 | 1.42, 38 | 0.01, 39 | -1.38, 40 | -2.8, 41 | -4.16, 42 | -5.62, 43 | -6.96, 44 | -8.44, 45 | -9.78, 46 | -11.27, 47 | -12.58, 48 | -14.1, 49 | -15.4, 50 | -16.95, 51 | -18.24, 52 | -19.8, 53 | -21.09, 54 | -22.66, 55 | -23.94, 56 | -25.54, 57 | -26.81, 58 | -28.45, 59 | -29.7, 60 | -31.36, 61 | -32.61, 62 | -34.28, 63 | -35.54, 64 | -37.24, 65 | -38.5, 66 | -40.21, 67 | -41.47, 68 | -43.23, 69 | -44.49 70 | ], 71 | "beam_azimuth_angles": 72 | [ 73 | 10.97, 74 | -3.53, 75 | 10.56, 76 | -3.4, 77 | 10.19, 78 | -3.29, 79 | 9.87, 80 | -3.19, 81 | 9.6, 82 | -3.11, 83 | 9.37, 84 | -3.05, 85 | 9.17, 86 | -2.98, 87 | 8.99, 88 | -2.93, 89 | 8.84, 90 | -2.88, 91 | 8.72, 92 | -2.85, 93 | 8.61, 94 | -2.82, 95 | 8.52, 96 | -2.8, 97 | 8.45, 98 | -2.78, 99 | 8.4, 100 | -2.77, 101 | 8.36, 102 | -2.76, 103 | 8.34, 104 | -2.76, 105 | 8.34, 106 | -2.76, 107 | 8.33, 108 | -2.76, 109 | 8.36, 110 | -2.79, 111 | 8.39, 112 | -2.81, 113 | 8.44, 114 | -2.81, 115 | 8.51, 116 | -2.85, 117 | 8.6, 118 | -2.89, 119 | 8.69, 120 | -2.93, 121 | 8.8, 122 | -2.98, 123 | 8.94, 124 | -3.04, 125 | 9.12, 126 | -3.11, 127 | 9.3, 128 | -3.19, 129 | 9.52, 130 | -3.27, 131 | 9.79, 132 | -3.38, 133 | 10.08, 134 | -3.51, 135 | 10.44, 136 | -3.64 137 | ], 138 | "build_date": "2020-11-24T06:51:26Z", 139 | "build_rev": "v2.0.0", 140 | "client_version": "0.1.0", 141 | "data_format": 142 | { 143 | "column_window": 144 | [ 145 | 0, 146 | 1023 147 | ], 148 | "columns_per_frame": 1024, 149 | "columns_per_packet": 16, 150 | "pixel_shift_by_row": 151 | [ 152 | 62, 153 | 21, 154 | 61, 155 | 21, 156 | 60, 157 | 22, 158 | 59, 159 | 22, 160 | 58, 161 | 22, 162 | 58, 163 | 22, 164 | 57, 165 | 23, 166 | 57, 167 | 23, 168 | 56, 169 | 23, 170 | 56, 171 | 23, 172 | 55, 173 | 23, 174 | 55, 175 | 23, 176 | 55, 177 | 23, 178 | 55, 179 | 23, 180 | 55, 181 | 23, 182 | 55, 183 | 23, 184 | 55, 185 | 23, 186 | 55, 187 | 23, 188 | 55, 189 | 23, 190 | 55, 191 | 23, 192 | 55, 193 | 23, 194 | 55, 195 | 23, 196 | 55, 197 | 23, 198 | 56, 199 | 23, 200 | 56, 201 | 23, 202 | 56, 203 | 22, 204 | 57, 205 | 22, 206 | 57, 207 | 22, 208 | 58, 209 | 22, 210 | 59, 211 | 21, 212 | 60, 213 | 21, 214 | 61, 215 | 21 216 | ], 217 | "pixels_per_column": 64 218 | }, 219 | "hostname": "192.168.1.73", 220 | "image_rev": "ousteros-image-prod-aries-v2.0.0+20201124065024", 221 | "imu_to_sensor_transform": 222 | [ 223 | 1, 224 | 0, 225 | 0, 226 | 6.253, 227 | 0, 228 | 1, 229 | 0, 230 | -11.775, 231 | 0, 232 | 0, 233 | 1, 234 | 7.645, 235 | 0, 236 | 0, 237 | 0, 238 | 1 239 | ], 240 | "lidar_mode": "1024x10", 241 | "lidar_origin_to_beam_origin_mm": 27.67, 242 | "lidar_to_sensor_transform": 243 | [ 244 | -1, 245 | 0, 246 | 0, 247 | 0, 248 | 0, 249 | -1, 250 | 0, 251 | 0, 252 | 0, 253 | 0, 254 | 1, 255 | 36.18, 256 | 0, 257 | 0, 258 | 0, 259 | 1 260 | ], 261 | "prod_line": "OS-0-64-U13", 262 | "prod_pn": "840-102144-B", 263 | "prod_sn": "992013000183", 264 | "proto_rev": "v1.1.1", 265 | "status": "RUNNING" 266 | } 267 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_middle_right.yaml: -------------------------------------------------------------------------------- 1 | name: lidar_middle_right # name which is used in the node name 2 | type: laser # type specifier currently unused 3 | sensor_hostname: 192.168.1.72 # hostname or IP in dotted decimal form of the sensor 4 | udp_dest: 192.168.1.100 # port to which the sensor should send lidar data 5 | lidar_port: 7506 # port to which the sensor should send lidar data 6 | imu_port: 7507 # port to which the sensor should send imu data 7 | lidar_mode: 1024x10 # resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10 8 | timestamp_mode: TIME_FROM_PTP_1588 # method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588 9 | image: false # publish range/intensity/noise image topic 10 | 11 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_top.json: -------------------------------------------------------------------------------- 1 | { 2 | "base_pn": "830-101845-E", 3 | "base_sn": "102012000642", 4 | "beam_altitude_angles": 5 | [ 6 | 11.25, 7 | 11.08, 8 | 10.9, 9 | 10.73, 10 | 10.6, 11 | 10.41, 12 | 10.25, 13 | 10.08, 14 | 9.93, 15 | 9.74, 16 | 9.56, 17 | 9.41, 18 | 9.25, 19 | 9.07, 20 | 8.9, 21 | 8.72, 22 | 8.56, 23 | 8.39, 24 | 8.21, 25 | 8.05, 26 | 7.88, 27 | 7.69, 28 | 7.53, 29 | 7.35, 30 | 7.2, 31 | 7.01, 32 | 6.85, 33 | 6.66, 34 | 6.51, 35 | 6.32, 36 | 6.15, 37 | 5.98, 38 | 5.82, 39 | 5.64, 40 | 5.46, 41 | 5.29, 42 | 5.12, 43 | 4.95, 44 | 4.79, 45 | 4.6, 46 | 4.44, 47 | 4.26, 48 | 4.08, 49 | 3.92, 50 | 3.74, 51 | 3.57, 52 | 3.39, 53 | 3.21, 54 | 3.04, 55 | 2.87, 56 | 2.7, 57 | 2.53, 58 | 2.35, 59 | 2.18, 60 | 2.01, 61 | 1.82, 62 | 1.66, 63 | 1.48, 64 | 1.3, 65 | 1.12, 66 | 0.97, 67 | 0.78, 68 | 0.61, 69 | 0.42, 70 | 0.25, 71 | 0.09, 72 | -0.09, 73 | -0.26, 74 | -0.43, 75 | -0.6, 76 | -0.77, 77 | -0.98, 78 | -1.13, 79 | -1.29, 80 | -1.48, 81 | -1.67, 82 | -1.81, 83 | -2.01, 84 | -2.19, 85 | -2.35, 86 | -2.52, 87 | -2.69, 88 | -2.88, 89 | -3.05, 90 | -3.22, 91 | -3.39, 92 | -3.58, 93 | -3.74, 94 | -3.91, 95 | -4.1, 96 | -4.27, 97 | -4.45, 98 | -4.61, 99 | -4.78, 100 | -4.96, 101 | -5.12, 102 | -5.29, 103 | -5.48, 104 | -5.66, 105 | -5.83, 106 | -6, 107 | -6.18, 108 | -6.34, 109 | -6.51, 110 | -6.68, 111 | -6.85, 112 | -7.03, 113 | -7.2, 114 | -7.37, 115 | -7.55, 116 | -7.73, 117 | -7.91, 118 | -8.05, 119 | -8.23, 120 | -8.4, 121 | -8.58, 122 | -8.73, 123 | -8.91, 124 | -9.09, 125 | -9.25, 126 | -9.42, 127 | -9.6, 128 | -9.76, 129 | -9.93, 130 | -10.08, 131 | -10.27, 132 | -10.43, 133 | -10.6 134 | ], 135 | "beam_azimuth_angles": 136 | [ 137 | 2.05, 138 | 0.67, 139 | -0.73, 140 | -2.1, 141 | 2.04, 142 | 0.65, 143 | -0.72, 144 | -2.11, 145 | 2.06, 146 | 0.67, 147 | -0.73, 148 | -2.09, 149 | 2.05, 150 | 0.67, 151 | -0.72, 152 | -2.1, 153 | 2.04, 154 | 0.66, 155 | -0.71, 156 | -2.09, 157 | 2.05, 158 | 0.66, 159 | -0.72, 160 | -2.09, 161 | 2.06, 162 | 0.67, 163 | -0.71, 164 | -2.09, 165 | 2.06, 166 | 0.66, 167 | -0.71, 168 | -2.09, 169 | 2.06, 170 | 0.67, 171 | -0.71, 172 | -2.08, 173 | 2.05, 174 | 0.67, 175 | -0.7, 176 | -2.09, 177 | 2.06, 178 | 0.68, 179 | -0.7, 180 | -2.07, 181 | 2.05, 182 | 0.68, 183 | -0.7, 184 | -2.08, 185 | 2.06, 186 | 0.67, 187 | -0.7, 188 | -2.08, 189 | 2.06, 190 | 0.68, 191 | -0.69, 192 | -2.08, 193 | 2.07, 194 | 0.69, 195 | -0.7, 196 | -2.07, 197 | 2.08, 198 | 0.68, 199 | -0.69, 200 | -2.08, 201 | 2.06, 202 | 0.69, 203 | -0.69, 204 | -2.07, 205 | 2.07, 206 | 0.7, 207 | -0.68, 208 | -2.07, 209 | 2.08, 210 | 0.7, 211 | -0.69, 212 | -2.08, 213 | 2.09, 214 | 0.7, 215 | -0.7, 216 | -2.07, 217 | 2.08, 218 | 0.7, 219 | -0.69, 220 | -2.06, 221 | 2.09, 222 | 0.7, 223 | -0.69, 224 | -2.06, 225 | 2.09, 226 | 0.69, 227 | -0.69, 228 | -2.07, 229 | 2.09, 230 | 0.7, 231 | -0.69, 232 | -2.05, 233 | 2.09, 234 | 0.71, 235 | -0.68, 236 | -2.06, 237 | 2.09, 238 | 0.7, 239 | -0.67, 240 | -2.05, 241 | 2.1, 242 | 0.71, 243 | -0.68, 244 | -2.05, 245 | 2.09, 246 | 0.71, 247 | -0.66, 248 | -2.06, 249 | 2.1, 250 | 0.72, 251 | -0.66, 252 | -2.05, 253 | 2.1, 254 | 0.73, 255 | -0.66, 256 | -2.03, 257 | 2.1, 258 | 0.72, 259 | -0.65, 260 | -2.04, 261 | 2.11, 262 | 0.73, 263 | -0.67, 264 | -2.05 265 | ], 266 | "build_date": "2020-11-24T06:51:26Z", 267 | "build_rev": "v2.0.0", 268 | "client_version": "0.1.0", 269 | "data_format": 270 | { 271 | "column_window": 272 | [ 273 | 0, 274 | 2047 275 | ], 276 | "columns_per_frame": 2048, 277 | "columns_per_packet": 16, 278 | "pixel_shift_by_row": 279 | [ 280 | 24, 281 | 16, 282 | 8, 283 | 0, 284 | 24, 285 | 16, 286 | 8, 287 | 0, 288 | 24, 289 | 16, 290 | 8, 291 | 0, 292 | 24, 293 | 16, 294 | 8, 295 | 0, 296 | 24, 297 | 16, 298 | 8, 299 | 0, 300 | 24, 301 | 16, 302 | 8, 303 | 0, 304 | 24, 305 | 16, 306 | 8, 307 | 0, 308 | 24, 309 | 16, 310 | 8, 311 | 0, 312 | 24, 313 | 16, 314 | 8, 315 | 0, 316 | 24, 317 | 16, 318 | 8, 319 | 0, 320 | 24, 321 | 16, 322 | 8, 323 | 0, 324 | 24, 325 | 16, 326 | 8, 327 | 0, 328 | 24, 329 | 16, 330 | 8, 331 | 0, 332 | 24, 333 | 16, 334 | 8, 335 | 0, 336 | 24, 337 | 16, 338 | 8, 339 | 0, 340 | 24, 341 | 16, 342 | 8, 343 | 0, 344 | 24, 345 | 16, 346 | 8, 347 | 0, 348 | 24, 349 | 16, 350 | 8, 351 | 0, 352 | 24, 353 | 16, 354 | 8, 355 | 0, 356 | 24, 357 | 16, 358 | 8, 359 | 0, 360 | 24, 361 | 16, 362 | 8, 363 | 0, 364 | 24, 365 | 16, 366 | 8, 367 | 0, 368 | 24, 369 | 16, 370 | 8, 371 | 0, 372 | 24, 373 | 16, 374 | 8, 375 | 0, 376 | 24, 377 | 16, 378 | 8, 379 | 0, 380 | 24, 381 | 16, 382 | 8, 383 | 0, 384 | 24, 385 | 16, 386 | 8, 387 | 0, 388 | 24, 389 | 16, 390 | 8, 391 | 0, 392 | 24, 393 | 16, 394 | 8, 395 | 0, 396 | 24, 397 | 16, 398 | 8, 399 | 0, 400 | 24, 401 | 16, 402 | 8, 403 | 0, 404 | 24, 405 | 16, 406 | 8, 407 | 0 408 | ], 409 | "pixels_per_column": 128 410 | }, 411 | "hostname": "192.168.1.80", 412 | "image_rev": "ousteros-image-prod-aries-v2.0.0+20201124065024", 413 | "imu_to_sensor_transform": 414 | [ 415 | 1, 416 | 0, 417 | 0, 418 | 6.253, 419 | 0, 420 | 1, 421 | 0, 422 | -11.775, 423 | 0, 424 | 0, 425 | 1, 426 | 7.645, 427 | 0, 428 | 0, 429 | 0, 430 | 1 431 | ], 432 | "lidar_mode": "2048x10", 433 | "lidar_origin_to_beam_origin_mm": 13.762, 434 | "lidar_to_sensor_transform": 435 | [ 436 | -1, 437 | 0, 438 | 0, 439 | 0, 440 | 0, 441 | -1, 442 | 0, 443 | 0, 444 | 0, 445 | 0, 446 | 1, 447 | 74.296, 448 | 0, 449 | 0, 450 | 0, 451 | 1 452 | ], 453 | "prod_line": "OS-2-128", 454 | "prod_pn": "840-102146-C", 455 | "prod_sn": "992024000444", 456 | "proto_rev": "v1.1.1", 457 | "status": "RUNNING" 458 | } 459 | -------------------------------------------------------------------------------- /config/laser/vehicle/lidar_top.yaml: -------------------------------------------------------------------------------- 1 | name: lidar_top # name which is used in the node name 2 | type: laser # type specifier currently unused 3 | sensor_hostname: 192.168.1.80 # hostname or IP in dotted decimal form of the sensor 4 | udp_dest: 192.168.1.100 # port to which the sensor should send lidar data 5 | lidar_port: 7508 # port to which the sensor should send lidar data 6 | imu_port: 7509 # port to which the sensor should send imu data 7 | lidar_mode: 2048x10 # resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10 8 | timestamp_mode: TIME_FROM_PTP_1588 # method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588 9 | image: true # publish range/intensity/noise image topic 10 | 11 | -------------------------------------------------------------------------------- /config/mapping_plattform.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 0 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: ~ 7 | Splitter Ratio: 0.6735293865203857 8 | Tree Height: 874 9 | - Class: rviz/Selection 10 | Name: Selection 11 | - Class: rviz/Tool Properties 12 | Expanded: 13 | - /2D Pose Estimate1 14 | - /2D Nav Goal1 15 | - /Publish Point1 16 | Name: Tool Properties 17 | Splitter Ratio: 0.5886790156364441 18 | - Class: rviz/Views 19 | Expanded: 20 | - /Current View1 21 | Name: Views 22 | Splitter Ratio: 0.5 23 | - Class: rviz/Time 24 | Experimental: false 25 | Name: Time 26 | SyncMode: 0 27 | SyncSource: Lidar 28 | Preferences: 29 | PromptSaveOnExit: true 30 | Toolbars: 31 | toolButtonStyle: 2 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Class: rviz/TF 36 | Enabled: true 37 | Frame Timeout: 15 38 | Frames: 39 | All Enabled: true 40 | base_link: 41 | Value: true 42 | gps: 43 | Value: true 44 | imu_link: 45 | Value: true 46 | lidar/os_imu: 47 | Value: true 48 | lidar/os_lidar: 49 | Value: true 50 | lidar/os_sensor: 51 | Value: true 52 | mount: 53 | Value: true 54 | Marker Scale: 2 55 | Name: TF 56 | Show Arrows: true 57 | Show Axes: true 58 | Show Names: true 59 | Tree: 60 | base_link: 61 | mount: 62 | gps: 63 | {} 64 | imu_link: 65 | {} 66 | lidar/os_sensor: 67 | lidar/os_imu: 68 | {} 69 | lidar/os_lidar: 70 | {} 71 | Update Interval: 0 72 | Value: true 73 | - Alpha: 1 74 | Autocompute Intensity Bounds: false 75 | Autocompute Value Bounds: 76 | Max Value: 10 77 | Min Value: -10 78 | Value: true 79 | Axis: Z 80 | Channel Name: intensity 81 | Class: rviz/PointCloud2 82 | Color: 204; 0; 0 83 | Color Transformer: Intensity 84 | Decay Time: 0 85 | Enabled: true 86 | Invert Rainbow: false 87 | Max Color: 255; 255; 255 88 | Max Intensity: 500 89 | Min Color: 0; 0; 0 90 | Min Intensity: 0 91 | Name: Lidar 92 | Position Transformer: XYZ 93 | Queue Size: 10 94 | Selectable: true 95 | Size (Pixels): 1.5 96 | Size (m): 0.05000000074505806 97 | Style: Points 98 | Topic: /lidar/points 99 | Unreliable: false 100 | Use Fixed Frame: true 101 | Use rainbow: true 102 | Value: true 103 | Enabled: true 104 | Global Options: 105 | Background Color: 0; 0; 0 106 | Default Light: true 107 | Fixed Frame: lidar/os_lidar 108 | Frame Rate: 20 109 | Name: root 110 | Tools: 111 | - Class: rviz/Interact 112 | Hide Inactive Objects: true 113 | - Class: rviz/MoveCamera 114 | - Class: rviz/Select 115 | - Class: rviz/FocusCamera 116 | - Class: rviz/Measure 117 | - Class: rviz/SetInitialPose 118 | Theta std deviation: 0.2617993950843811 119 | Topic: /initialpose 120 | X std deviation: 0.5 121 | Y std deviation: 0.5 122 | - Class: rviz/SetGoal 123 | Topic: /move_base_simple/goal 124 | - Class: rviz/PublishPoint 125 | Single click: true 126 | Topic: /clicked_point 127 | Value: true 128 | Views: 129 | Current: 130 | Class: rviz/Orbit 131 | Distance: 50.17351531982422 132 | Enable Stereo Rendering: 133 | Stereo Eye Separation: 0.05999999865889549 134 | Stereo Focal Distance: 1 135 | Swap Stereo Eyes: false 136 | Value: false 137 | Focal Point: 138 | X: 0 139 | Y: 0 140 | Z: 0 141 | Focal Shape Fixed Size: false 142 | Focal Shape Size: 0.05000000074505806 143 | Invert Z Axis: false 144 | Name: Current View 145 | Near Clip Distance: 0.009999999776482582 146 | Pitch: 0.43039852380752563 147 | Target Frame: base_link 148 | Value: Orbit (rviz) 149 | Yaw: 6.243584156036377 150 | Saved: ~ 151 | Window Geometry: 152 | Displays: 153 | collapsed: false 154 | Height: 1025 155 | Hide Left Dock: false 156 | Hide Right Dock: false 157 | QMainWindow State: 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158 | Selection: 159 | collapsed: false 160 | Time: 161 | collapsed: false 162 | Tool Properties: 163 | collapsed: false 164 | Views: 165 | collapsed: false 166 | Width: 1853 167 | X: 65 168 | Y: 32 169 | -------------------------------------------------------------------------------- /config/vehicle.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 0 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /Lidar Raw1 10 | Splitter Ratio: 0.6735293865203857 11 | Tree Height: 874 12 | - Class: rviz/Selection 13 | Name: Selection 14 | - Class: rviz/Tool Properties 15 | Expanded: 16 | - /2D Pose Estimate1 17 | - /2D Nav Goal1 18 | - /Publish Point1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.5886790156364441 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Experimental: false 28 | Name: Time 29 | SyncMode: 0 30 | SyncSource: "" 31 | Preferences: 32 | PromptSaveOnExit: true 33 | Toolbars: 34 | toolButtonStyle: 2 35 | Visualization Manager: 36 | Class: "" 37 | Displays: 38 | - Class: rviz/TF 39 | Enabled: true 40 | Frame Timeout: 15 41 | Frames: 42 | All Enabled: true 43 | lidar_front/os_imu: 44 | Value: true 45 | lidar_front/os_lidar: 46 | Value: true 47 | lidar_front/os_sensor: 48 | Value: true 49 | lidar_middle_left/os_imu: 50 | Value: true 51 | lidar_middle_left/os_lidar: 52 | Value: true 53 | lidar_middle_left/os_sensor: 54 | Value: true 55 | lidar_middle_right/os_imu: 56 | Value: true 57 | lidar_middle_right/os_lidar: 58 | Value: true 59 | lidar_middle_right/os_sensor: 60 | Value: true 61 | lidar_top/os_imu: 62 | Value: true 63 | lidar_top/os_lidar: 64 | Value: true 65 | lidar_top/os_sensor: 66 | Value: true 67 | Marker Scale: 2 68 | Name: TF 69 | Show Arrows: true 70 | Show Axes: true 71 | Show Names: true 72 | Tree: 73 | {} 74 | Update Interval: 0 75 | Value: true 76 | - Class: rviz/Group 77 | Displays: 78 | - Alpha: 1 79 | Autocompute Intensity Bounds: false 80 | Autocompute Value Bounds: 81 | Max Value: 10 82 | Min Value: -10 83 | Value: true 84 | Axis: Z 85 | Channel Name: intensity 86 | Class: rviz/PointCloud2 87 | Color: 204; 0; 0 88 | Color Transformer: FlatColor 89 | Decay Time: 0 90 | Enabled: true 91 | Invert Rainbow: false 92 | Max Color: 255; 255; 255 93 | Max Intensity: 3207 94 | Min Color: 0; 0; 0 95 | Min Intensity: 0 96 | Name: top 97 | Position Transformer: XYZ 98 | Queue Size: 10 99 | Selectable: true 100 | Size (Pixels): 1.5 101 | Size (m): 0.05000000074505806 102 | Style: Points 103 | Topic: /lidar_top/points 104 | Unreliable: false 105 | Use Fixed Frame: true 106 | Use rainbow: true 107 | Value: true 108 | - Alpha: 1 109 | Autocompute Intensity Bounds: false 110 | Autocompute Value Bounds: 111 | Max Value: 10 112 | Min Value: -10 113 | Value: true 114 | Axis: Z 115 | Channel Name: intensity 116 | Class: rviz/PointCloud2 117 | Color: 252; 233; 79 118 | Color Transformer: FlatColor 119 | Decay Time: 0 120 | Enabled: true 121 | Invert Rainbow: false 122 | Max Color: 255; 255; 255 123 | Max Intensity: 5000 124 | Min Color: 0; 0; 0 125 | Min Intensity: 4 126 | Name: right 127 | Position Transformer: XYZ 128 | Queue Size: 10 129 | Selectable: true 130 | Size (Pixels): 2 131 | Size (m): 0.05000000074505806 132 | Style: Points 133 | Topic: /lidar_middle_right/points 134 | Unreliable: false 135 | Use Fixed Frame: true 136 | Use rainbow: true 137 | Value: true 138 | - Alpha: 1 139 | Autocompute Intensity Bounds: false 140 | Autocompute Value Bounds: 141 | Max Value: 10 142 | Min Value: -10 143 | Value: true 144 | Axis: Z 145 | Channel Name: intensity 146 | Class: rviz/PointCloud2 147 | Color: 255; 255; 255 148 | Color Transformer: FlatColor 149 | Decay Time: 0 150 | Enabled: true 151 | Invert Rainbow: false 152 | Max Color: 255; 255; 255 153 | Max Intensity: 5000 154 | Min Color: 0; 0; 0 155 | Min Intensity: 4 156 | Name: left 157 | Position Transformer: XYZ 158 | Queue Size: 10 159 | Selectable: true 160 | Size (Pixels): 2 161 | Size (m): 0.05000000074505806 162 | Style: Points 163 | Topic: /lidar_middle_left/points 164 | Unreliable: false 165 | Use Fixed Frame: true 166 | Use rainbow: true 167 | Value: true 168 | - Alpha: 1 169 | Autocompute Intensity Bounds: false 170 | Autocompute Value Bounds: 171 | Max Value: 10 172 | Min Value: -10 173 | Value: true 174 | Axis: Z 175 | Channel Name: intensity 176 | Class: rviz/PointCloud2 177 | Color: 52; 101; 164 178 | Color Transformer: FlatColor 179 | Decay Time: 0 180 | Enabled: true 181 | Invert Rainbow: false 182 | Max Color: 255; 255; 255 183 | Max Intensity: 5000 184 | Min Color: 0; 0; 0 185 | Min Intensity: 4 186 | Name: front 187 | Position Transformer: XYZ 188 | Queue Size: 10 189 | Selectable: true 190 | Size (Pixels): 2 191 | Size (m): 0.05000000074505806 192 | Style: Points 193 | Topic: /lidar_front/points 194 | Unreliable: false 195 | Use Fixed Frame: true 196 | Use rainbow: true 197 | Value: true 198 | Enabled: true 199 | Name: Lidar Raw 200 | Enabled: true 201 | Global Options: 202 | Background Color: 0; 0; 0 203 | Default Light: true 204 | Fixed Frame: base_link 205 | Frame Rate: 20 206 | Name: root 207 | Tools: 208 | - Class: rviz/Interact 209 | Hide Inactive Objects: true 210 | - Class: rviz/MoveCamera 211 | - Class: rviz/Select 212 | - Class: rviz/FocusCamera 213 | - Class: rviz/Measure 214 | - Class: rviz/SetInitialPose 215 | Theta std deviation: 0.2617993950843811 216 | Topic: /initialpose 217 | X std deviation: 0.5 218 | Y std deviation: 0.5 219 | - Class: rviz/SetGoal 220 | Topic: /move_base_simple/goal 221 | - Class: rviz/PublishPoint 222 | Single click: true 223 | Topic: /clicked_point 224 | Value: true 225 | Views: 226 | Current: 227 | Class: rviz/ThirdPersonFollower 228 | Distance: 70.20360565185547 229 | Enable Stereo Rendering: 230 | Stereo Eye Separation: 0.05999999865889549 231 | Stereo Focal Distance: 1 232 | Swap Stereo Eyes: false 233 | Value: false 234 | Focal Point: 235 | X: 0 236 | Y: 0 237 | Z: 0 238 | Focal Shape Fixed Size: false 239 | Focal Shape Size: 0.05000000074505806 240 | Invert Z Axis: false 241 | Name: Current View 242 | Near Clip Distance: 0.009999999776482582 243 | Pitch: 0.37039923667907715 244 | Target Frame: base_link 245 | Value: ThirdPersonFollower (rviz) 246 | Yaw: 3.1754045486450195 247 | Saved: ~ 248 | Window Geometry: 249 | Displays: 250 | collapsed: false 251 | Height: 1025 252 | Hide Left Dock: false 253 | Hide Right Dock: false 254 | QMainWindow State: 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428 | 429 | 430 | 360.7973327636719 431 | 432 | 433 | 434 | 360.7994079589844 435 | 436 | 437 | 438 | 361.66290283203125 439 | 440 | 441 | 442 | 361.67431640625 443 | 444 | 445 | 446 | 361.67547607421875 447 | 448 | 449 | 450 | 361.0133056640625 451 | 452 | 453 | 454 | 360.9746398925781 455 | 456 | 457 | 458 | 360.9700012207031 459 | 460 | 461 | 462 | 361.1540832519531 463 | 464 | 465 | 466 | 361.1495056152344 467 | 468 | 469 | 470 | 361.1494140625 471 | 472 | 473 | 474 | 361.2778625488281 475 | 476 | 477 | 478 | 479 | 480 | -------------------------------------------------------------------------------- /gpx/park.gpx: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | Scan_park 9 | 10 | Garmin Connect 11 | 12 | 13 | 14 | 15 | Scan_park 16 | 17 | 18 | 365.6745300293 19 | 20 | 21 | 22 | 365.2546081543 23 | 24 | 25 | 26 | 366.67120361328 27 | 28 | 29 | 30 | 367.89343261719 31 | 32 | 33 | 34 | 369.35717773438 35 | 36 | 37 | 38 | 369.41717529297 39 | 40 | 41 | 42 | 368.80261230469 43 | 44 | 45 | 46 | 370.52606201172 47 | 48 | 49 | 50 | 369.92803955078 51 | 52 | 53 | 54 | 370.71240234375 55 | 56 | 57 | 58 | 371.72021484375 59 | 60 | 61 | 62 | 373.35467529297 63 | 64 | 65 | 66 | 373.7294921875 67 | 68 | 69 | 70 | 373.54040527344 71 | 72 | 73 | 74 | 372.77255249023 75 | 76 | 77 | 78 | 371.63497924805 79 | 80 | 81 | 82 | 371.86294555664 83 | 84 | 85 | 86 | 370.25674438477 87 | 88 | 89 | 90 | 371.30944824219 91 | 92 | 93 | 94 | 369.58142089844 95 | 96 | 97 | 98 | 369.41345214844 99 | 100 | 101 | 102 | 369.19747924805 103 | 104 | 105 | 106 | 368.88552856445 107 | 108 | 109 | 110 | 369.19747924805 111 | 112 | 113 | 114 | 369.64300537109 115 | 116 | 117 | 118 | 369.07608032227 119 | 120 | 121 | 122 | 366.97436523438 123 | 124 | 125 | 126 | 366.35690307617 127 | 128 | 129 | 130 | 366.43447875977 131 | 132 | 133 | 134 | 369.62799072266 135 | 136 | 137 | 138 | 369.83197021484 139 | 140 | 141 | 142 | 370.32858276367 143 | 144 | 145 | 146 | 371.9075012207 147 | 148 | 149 | 150 | 372.77133178711 151 | 152 | 153 | 154 | 372.96047973633 155 | 156 | 157 | 158 | 372.97763061523 159 | 160 | 161 | 162 | 373.22958374023 163 | 164 | 165 | 166 | 373.76950073242 167 | 168 | 169 | 170 | 373.13424682617 171 | 172 | 173 | 174 | 372.75274658203 175 | 176 | 177 | 178 | 372.87271118164 179 | 180 | 181 | 182 | 373.16067504883 183 | 184 | 185 | 186 | 372.97387695312 187 | 188 | 189 | 190 | 372.48675537109 191 | 192 | 193 | 194 | 371.5749206543 195 | 196 | 197 | 198 | 371.04699707031 199 | 200 | 201 | 202 | 370.42352294922 203 | 204 | 205 | 206 | 370.79547119141 207 | 208 | 209 | 210 | 371.19528198242 211 | 212 | 213 | 214 | 371.51922607422 215 | 216 | 217 | 218 | 371.13641357422 219 | 220 | 221 | 222 | 370.99133300781 223 | 224 | 225 | 226 | 370.939453125 227 | 228 | 229 | 230 | 370.89144897461 231 | 232 | 233 | 234 | 370.9274597168 235 | 236 | 237 | 238 | 371.0114440918 239 | 240 | 241 | 242 | 371.07141113281 243 | 244 | 245 | 246 | 371.15539550781 247 | 248 | 249 | 250 | 371.25140380859 251 | 252 | 253 | 254 | 371.29937744141 255 | 256 | 257 | 258 | 371.29937744141 259 | 260 | 261 | 262 | 371.25140380859 263 | 264 | 265 | 266 | 371.2444152832 267 | 268 | 269 | 270 | 371.232421875 271 | 272 | 273 | 274 | 371.13641357422 275 | 276 | 277 | 278 | 371.51922607422 279 | 280 | 281 | 282 | 375.89074707031 283 | 284 | 285 | 286 | 377.12930297852 287 | 288 | 289 | 290 | 375.97473144531 291 | 292 | 293 | 294 | 373.44314575195 295 | 296 | 297 | 298 | 371.92327880859 299 | 300 | 301 | 302 | 371.97128295898 303 | 304 | 305 | 306 | 372.46099853516 307 | 308 | 309 | 310 | 372.79693603516 311 | 312 | 313 | 314 | 372.94091796875 315 | 316 | 317 | 318 | 373.22888183594 319 | 320 | 321 | 322 | 373.85275268555 323 | 324 | 325 | 326 | 373.62393188477 327 | 328 | 329 | 330 | 372.77206420898 331 | 332 | 333 | 334 | 371.43185424805 335 | 336 | 337 | 338 | 371.98049926758 339 | 340 | 341 | 342 | 371.27261352539 343 | 344 | 345 | 346 | 370.64874267578 347 | 348 | 349 | 350 | 369.77947998047 351 | 352 | 353 | 354 | 369.56353759766 355 | 356 | 357 | 358 | 369.19924926758 359 | 360 | 361 | 362 | 368.41940307617 363 | 364 | 365 | 366 | 367.45956420898 367 | 368 | 369 | 370 | 366.61651611328 371 | 372 | 373 | 374 | 366.95950317383 375 | 376 | 377 | 378 | 365.23880004883 379 | 380 | 381 | 382 | 365.04132080078 383 | 384 | 385 | 386 | 365.27301025391 387 | 388 | 389 | 390 | 363.28637695312 391 | 392 | 393 | 394 | 365.01333618164 395 | 396 | 397 | 398 | 365.91439819336 399 | 400 | 401 | 402 | 366.48495483398 403 | 404 | 405 | 406 | 367.61123657227 407 | 408 | 409 | 410 | 367.23602294922 411 | 412 | 413 | 414 | 366.77038574219 415 | 416 | 417 | 418 | 366.93695068359 419 | 420 | 421 | 422 | 366.98080444336 423 | 424 | 425 | 426 | 367.88763427734 427 | 428 | 429 | 430 | 368.71694946289 431 | 432 | 433 | 434 | 369.14663696289 435 | 436 | 437 | 438 | 369.63800048828 439 | 440 | 441 | 442 | 366.63494873047 443 | 444 | 445 | 446 | 365.56430053711 447 | 448 | 449 | 450 | 365.5647277832 451 | 452 | 453 | 454 | 371.22277832031 455 | 456 | 457 | 458 | 372.04791259766 459 | 460 | 461 | 462 | 373.58056640625 463 | 464 | 465 | 466 | 372.42248535156 467 | 468 | 469 | 470 | 374.19552612305 471 | 472 | 473 | 474 | 374.40991210938 475 | 476 | 477 | 478 | 372.57379150391 479 | 480 | 481 | 482 | 372.40515136719 483 | 484 | 485 | 486 | 372.80239868164 487 | 488 | 489 | 490 | 372.52185058594 491 | 492 | 493 | 494 | 372.67965698242 495 | 496 | 497 | 498 | 373.3522644043 499 | 500 | 501 | 502 | 374.57894897461 503 | 504 | 505 | 506 | 373.90698242188 507 | 508 | 509 | 510 | 373.16864013672 511 | 512 | 513 | 514 | 373.36401367188 515 | 516 | 517 | 518 | 374.25137329102 519 | 520 | 521 | 522 | 374.87567138672 523 | 524 | 525 | 526 | 378.64651489258 527 | 528 | 529 | 530 | 531 | 532 | -------------------------------------------------------------------------------- /launch/ouster_config_file.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /launch/replay_mapping_plattform.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /launch/replay_vehicle.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | mapping_dataset_styria 4 | 0.0.0 5 | The mapping_dataset_styria package 6 | 7 | Markus Schratter 8 | Konstantin Mautner-Lassnig 9 | 10 | Apache 11 | 12 | catkin 13 | 14 | 15 | 16 | --------------------------------------------------------------------------------