New College Dataset parser for ROS
July 19, 2010 - 7:46pm — Ivan Dryanovski
As you may know, the New College Data is a freely available dataset collected from a robot completing several loops outdoors around the New College campus in Oxford. The data includes odometry, laser scan, and visual information.
We have recently released a ROS parser for the New College Dataset. The parser reads in the .alog data files provided on the NCD website and broadcasts ROS messages in real time. The parser also broadcasts transforms between the robot's base frame and the sensor frames, as defined in the NCD paper.
Details about the package, as well as a demo video of the NCD data being played back in rviz, are available here:
