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https://github.com/ARTI-Robots/mapping_dataset_styria

Open mapping dataset of styria in Austria
https://github.com/ARTI-Robots/mapping_dataset_styria

Last synced: about 2 months ago
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Open mapping dataset of styria in Austria

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README 

        
# Mapping Dataset Styria

Open mapping dataset of styria in Austria



## Requirements



Tested on Ubuntu 18.04/20.04 ROS Melodic/Noetic 



## Sensor setup for walking dataset



| Type | Sensor | Topic| Frequency |  

| ------ | ------ | ------ | ------ |

| Lidar | 1x Ouster OS1-64 | /lidar/points | 10Hz | 

| IMU | XSens MTi-630 | /imu/data | 400Hz  | 

| GPS | u-blox F9P | /ublox_f9p/fix | 1Hz | 



#### Graz Inner City (walking):



Duration:    29:07s (1747s)  

Size:        27.0 GB  



inner_city.zip  

https://artirobots.sharepoint.com/:u:/g/EW7NEasfPFNNqX6kgPSrSJ4B8ifLob0q7ta24_YgT0TgIA?e=ZVh2ry



Planned route: 



![Planned Route Inner City](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/gpx_design_inner_city.jpg?raw=true "Planned Route Inner City")



#### Graz Schlossberg (walking):



Duration:    32:57s (1977s)  

Size:        30.5 GB  



schlossberg.zip  

https://artirobots.sharepoint.com/:u:/g/EcF9BHIY421Kqhf3DT4BxrkBhQt_U97iKyOeN4o3fx0hYA?e=E0iIqG



#### Graz Stadtpark (walking):



Duration:    51:50s (3110s)  

Size:        48.0 GB  



park.zip  

https://artirobots.sharepoint.com/:u:/g/EdIVjOiqYhtMgHvKGAZlkRgBDvNG04Al-CjxZWe8sQg4yg?e=A96ck7



Planned route: 



![Planned Route Stadtpark](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/gpx_design_park.jpg?raw=true "Planned Route Stadtpark")



## Vehicle Recordings by Virtual Vehicle Research



The demonstrator from Virtual Vehicle Research is equipped with multiple lidars and other sensors for the mapping. 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. 



| Type | Sensor | Topic| Frequency |  

| ------ | ------ | ------ | ------ |

| Lidar | 1x Ouster OS2-128 | /lidar_top/points | 10Hz | 

| IMU | XSens MTi-630 | /sensing/imu/imu_data | >=200Hz  | 

| GPS | u-blox F9P | /sensing/ublox_f9p/fix  /sensing/ublox_f9p/speed | 5Hz | 

| Lidar (optional) | 3x Ouster OS0-64 | /lidar_front/points /lidar_middle_left/points /lidar_middle_right/points | 10Hz | 

| GPS (optional) | NovAtel ProPak6 | /sensing/novatel/fix | 100Hz |



![alt text](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/vehicle_sensor_positions.png?raw=true)



### Graz University of Technology Campus (driving, low speed):



**Duration:**    21:02s (1232s)  

**Size:**        29.5 GB  



![University Campus](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/1_university_campus.jpg?raw=true "University Campus")



university_campus_2021-01-25-15-59-55_0.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYY8Z-SuraJJntc1KN6JoqAB4kFQvc0VKSQBq-wZqi6lUQ?e=Vbm6c1   

university_campus_2021-01-25-16-14-56_1.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EbW-cuGCy15Bnm5G7mHsi9EBrBWb0B9A6TziWNnmJmYb5w?e=DOkFAp



### Graz Inner City (driving):



**Duration:**    29:13s (1753s)  

**Size:**        49.3 GB  



![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")



campus_city_center_campus_2021-01-22-04-29-34_0.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EfM4Cnom_2xDtMWHsy7JlsEBn5_cVf3LAHaevfGGcMoBbQ?e=Jj8tEa  

campus_city_center_campus_2021-01-22-04-39-06_1.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUK2b3I1Io5DpWmhkEN393ABMzT8qTSVxz-b59tdYBcSlQ?e=htEwZK  

campus_city_center_campus_2021-01-22-04-48-33_2.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EaDhvYbyPqRHokSmmqpn5KMB4CD43_V4AJuSMqnM4aVU2A?e=duwbh2  

campus_city_center_campus_2021-01-22-04-57-55_3.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUpGTkRbiDpMvq6P50-vtKABbXR24OFvFstzwSINCC2HuA?e=7qM1Z4  



### Urban Environment 1 (Graz University of Technology -> Murpark):



**Duration:**    10:06s (606s)  

**Size:**        9.9 GB  



![Urban environment 1](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/2_campus_murpark.jpg?raw=true "Urban environment 1")



campus_murpark_2021-03-16-16-27-02_0.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EXiXlPWXwTBDni7krobKF7YBN1d6THEEux7I2fT8qPux7w?e=y23xBA  

campus_murpark_2021-03-16-16-30-00_1.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ESV9n6LFv_NOtsZse4cJDZABgfhkUL3U1BWGIbdkfZXV-w?e=iAgYTq  

campus_murpark_2021-03-16-16-33-07_2.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQ9dDOPOx-pAkSNq0aIi8jwBEcl5Z0xfSt9GN79BtpHwLA?e=RVXeam  

campus_murpark_2021-03-16-16-36-13_3.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZJdS-YpAlZPtgvbyFEO2m8BQZMRFCwHd2yw3vs305NeWg?e=dcZaWb



### Motorway (Murpark -> A2 -> Murpark):



**Duration:**    12:18s (738s)  

**Size:**        10.2 GB  



![Motorway](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/3_murpark_a2_murpark.jpg?raw=true "University Campus")



murpark_a2_murpark_2021-03-16-16-37-19_0.zip   

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ET3pY37xB0hJgrjeV400q5EB1ajXSDfW875tcvEzdJW4iw?e=kbBUDx  

murpark_a2_murpark_2021-03-16-16-40-27_1.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZu51bCyDLlGqeQYYJvxG1kB61-J5s9TbbLBYuo6TzymfQ?e=2mX6Oo  

murpark_a2_murpark_2021-03-16-16-43-26_2.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZUTXDD-IBhGrPgtGwfznF0BWl4d6BZpJw6q80hfAQlE2Q?e=0HdvhZ  

murpark_a2_murpark_2021-03-16-16-46-31_3.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYy5JDHWXdBDoaWhfufqnWoBVOhpLcKaMplGz7PerqqSCA?e=Uz7fZD



### Urban environment 2 (Murpark -> Graz University of Technology):



**Duration:**    06:04s (364s)  

**Size:**        5.4 GB  



![Urban environment 2](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/4_murpark_campus.jpg?raw=true "Urban environment 2")



murpark_campus_2021-03-16-17-26-26_0.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZVz2fplA0lIpQfTpk5THo0B1kdWCJvVsw8owEHQCGtA6A?e=LUPXRQ  

murpark_campus_2021-03-16-17-29-27_1.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EdI-CAfcBKBAkuJScWNCIsYBfDl8REw-XoLTGZqlLfXkrQ?e=VakPSH



### 4x Lidars (Graz University of Technology Campus):



**Duration:**    18:44s (1124s)  

**Size:**        35.3 GB  



![Vehicle 4xLidar setup](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/vehicle_4_lidars.png?raw=true "Vehicle 4xLidar setup")



vehicle_4_lidars_2021-01-22-05-36-56_0.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUccCxSWKSZCtzg65ZyeSjIBrvjRLBfjdh44oNno9F19fw?e=gX1ZEw  

vehicle_4_lidars_2021-01-22-05-46-24_1.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQznXe0z351AndrMzUBBIOkBkSeRpHzmnJJyRuagFVvNug?e=2WWqIC  

vehicle_4_lidars_2021-01-22-05-55-41_2.zip  

https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUkwtvFQFhBLsPaoEUDdlXoBdvf9EwAMMRkxbArNUiTUbQ?e=fi4TuT



## Installation



```

cd ~/mapping_ws/src

git clone https://github.com/ARTI-Robots/mapping_dataset_styria.git

git clone https://github.com/virtual-vehicle-research/ouster_example.git

cd ..

catkin_make

```



## Run the package with mapping plattform (walking)



```

roscore

```



```

roslaunch mapping_dataset_styria replay_mapping_plattform.launch

```



```

rosbag play ROSBAG.bag --clock

```



## Run the package with vehicle plattform (driving)



```

roscore

```



```

roslaunch mapping_dataset_styria replay_vehicle.launch 

```



```

rosbag play ROSBAG.bag --clock

```



## Powered by



[ARTI - Autonomous Robot Technology GmbH](http://arti-robots.com)



[Virtual Vehicle Research GmbH](https://www.v2c2.at/)