No ground truth data

[hcaawu]

I downloaded the bag file but there is no ros topic containing gps or ground truth data? Where can I find it?
Thanks

[yzrobot]

Hi,

The topic for GPS-RTK (ground truth for localization) is /nmea_sentence.

To use it:

• Download the driver https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/drivers/magellan_proflex500 and put it in your catkin_ws/src/

• Put this code block in your launch file:

<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver"/>
<node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
<node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>

or check here: https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch

Cheers,
Zhi

[hcaawu]

Thank you.
Also, I tried to run the bag on 20180719 but the link provided is directed to 0713.

[yzrobot]

Thx for the feedback. The link is fixed.

[limeng1523]

Hi, @yzrobot In baselines there is a package 'utbm_pose_estimation'. Can the output of this package be used as the groundtruth?

[yzrobot]

Hi, I don't think so (as the name "estimation"), the only one we can call “ground-truth” in the data we currently provide is the GPS-RTK, i.e. the /fix ROS topic. Cheers.

[subshine]

Hi,

The topic for GPS-RTK (ground truth for localization) is /nmea_sentence.

To use it:

• Download the driver https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/drivers/magellan_proflex500 and put it in your catkin_ws/src/
• Put this code block in your launch file:

<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver"/>
<node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
<node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>

or check here: https://github.com/epan-utbm/utbm_robocar_dataset/tree/baselines/launch

Cheers,
Zhi
Hi ,How to /nmea_sentence ros topic convert to /fix ,I want to get gps data。
According to the above steps, it is not possible, can you be more detailed?
Thanks!

[yzrobot]

Hi, hope this can help.

[subshine]

Hi, hope this can help.

solved.Thx!
main problem lack of https://github.com/ros-drivers/nmea_msgs package!