From version 2, this node aims to play the whole kitti data into ROS (Color/Grayscale images, Velodyne scan as PCL, sensor_msgs/Imu Message, GPS as sensor_msgs/NavSatFix Message).

http://www.ira.disco.unimib.it/kitti_player https://github.com/iralabdisco/kitti_player

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Kitti_player, a player for KITTI raw datasets Datasets can be downloaded from: http://www.cvlibs.net/datasets/kitti/raw_data.php

Allowed options: help h help message directory d required - path to the kitti dataset Directory frequency f set replay Frequency all a replay All data velodyne v replay Velodyne data gps g replay Gps data imu i replay Imu data grayscale G replay Stereo Grayscale images color C replay Stereo Color images viewer V enable image viewer timestamps T use KITTI timestamps stereoDisp s use pre-calculated disparities viewDisp D view loaded disparity images frame F start playing at frame... gpsPoints p publish GPS/RTK markers to RVIZ, having reference frame as <reference_frame> [example: -p map] synchMode S Enable Synch mode (wait for signal to load next frame [std_msgs/Bool "data: true"]

kitti_player needs a directory tree like the following: └── 2011_09_26_drive_0001_sync ├── image_00 │ └── data │ └ timestamps.txt ├── image_01 │ └── data │ └ timestamps.txt ├── image_02 │ └── data │ └ timestamps.txt ├── image_03 │ └── data │ └ timestamps.txt ├── oxts │ └── data │ └ timestamps.txt ├── velodyne_points │ └── data │ └ timestamps.txt └── calib_cam_to_cam.txt