The log data is in .mcap format, the standard logging format for ROS 2. MCAP is an open source container file format for multimodal log data. It supports multiple channels of timestamped pre-serialized data, and is ideal for use in pub/sub or robotics applications.

Getting started¶

Download the `mcap` (bag) files¶

Download every MCAP as a ZIP

Download a sample MCAP

You can instanly view the data in Foxglove Studio (Free, online or on ay platform).

Python scripts for MCAP¶

One of the easiest way to getting started with the dataset is to look at the examples:

MCAP scripts examples

Further MCAP in python notebook

Important note

MCAP is ROS 2 agnostic, and can be used in any Python project, but rosbag2-api does rely on ROS2. Use mcap-ros2-support which is not dependent on ROS 2.

Python MCAP ROS2 support package (mcap-ros2-support) provides ROS2 support for the Python MCAP file format reader. It has no dependencies on ROS2 itself or a ROS 2 environment, and can be used in any Python project.

On windows / linux / mac install the following packages:

pip install mcap mcap-ros2-support matplotlib numpy pandas scipy

Dataset description¶

Route Name	Description	Terrain
`nissan_zala_90_country_road_1`	road section	flat - no hills
`nissan_zala_90_country_road_2`	longer stretches of highway, slight bends, some roundabouts	hilly road
`nissan_zala_50_sagod`	slightly winding roads with some sharper turns	1 slight uphill
`nissan_zala_50_zeg_1`	mostly going in one direction, interrupted by roundabouts, continuous going	flat - no hills
`nissan_zala_50_zeg_2`	roundabouts, bends, stationary situations (due to traffic)	flat - no hills
`nissan_zala_50_zeg_3`	square bends with parking	flat - no hills
`nissan_zala_50_zeg_4`	winding	flat - no hills
`nissan_zala_90_mixed`	dynamic, city and country road	mostly flat, last about 10m hilly

Usage in Ubuntu / Windows WSL¶

Install `mcap`:¶

pip install mcap

Download dataset, e.g. to `/mnt/c/bag/jkkds02/`:¶

cd /mnt/c/bag/jkkds02/

wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/EVofDCG_ORZJh--XTVLFsFEBOUYB1eAbHAzdTVDdf19Y9g?download=1 -O jkkds02.zip

Make sure you have unzip (sudo apt-get install unzip) and:

unzip jkkds02.zip

Getting started¶

Download the mcap (bag) files¶