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¶
You can instanly view the data in Foxglove Studio (Free, online or on ay platform).
One of the easiest way to getting started with the dataset is to look at the notebook examples:
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
Some images¶
