Datasets#
Autoware partners provide datasets for testing and development. These datasets are available for download here.
Bus-ODD (Operational Design Domain) datasets#
Leo Drive - ISUZU sensor data#
This dataset contains data from the Isuzu bus used in the Bus ODD project.
The data contains data from following sensors:
- 1 x VLP16
- 2 x VLP32C
- 1 x Applanix POS LV 120 GNSS/INS
- 3 x Lucid Vision Triton 5.4MP cameras (left, right, front)
- Vehicle status report
It also contains /tf
topic for static transformations between sensors.
Required message types#
The GNSS data is available in sensor_msgs/msg/NavSatFix
message type.
But also the Applanix raw messages are also included in applanix_msgs/msg/NavigationPerformanceGsof50
and applanix_msgs/msg/NavigationSolutionGsof49
message types.
In order to be able to play back these messages, you need to build and source the applanix_msgs
package.
# Create a workspace and clone the repository
mkdir -p ~/applanix_ws/src && cd "$_"
git clone https://github.com/autowarefoundation/applanix.git
cd ..
# Build the workspace
colcon build --symlink-install --packages-select applanix_msgs
# Source the workspace
source ~/applanix_ws/install/setup.bash
# Now you can play back the messages
Also make sure to source Autoware Universe workspace too.
Download instructions#
# Install awscli
$ sudo apt update && sudo apt install awscli -y
# This will download the entire dataset to the current directory.
# (About 10.9GB of data)
$ aws s3 sync s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/ ./2022-08-22_leo_drive_isuzu_bags --no-sign-request
# Optionally,
# If you instead want to download a single bag file, you can get a list of the available files with following:
$ aws s3 ls s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/ --no-sign-request
PRE all-sensors-bag1_compressed/
PRE all-sensors-bag2_compressed/
PRE all-sensors-bag3_compressed/
PRE all-sensors-bag4_compressed/
PRE all-sensors-bag5_compressed/
PRE all-sensors-bag6_compressed/
PRE driving_20_kmh_2022_06_10-16_01_55_compressed/
PRE driving_30_kmh_2022_06_10-15_47_42_compressed/
# Then you can download a single bag file with the following:
aws s3 sync s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/all-sensors-bag1_compressed/ ./all-sensors-bag1_compressed --no-sign-request
AutoCore.ai - lidar ROS 2 bag file and pcap#
This dataset contains pcap files and ros2 bag files from Ouster OS1-64 Lidar. The pcap file and ros2 bag file is recorded in the same time with slight difference in duration.