Data
Sharing data is fundamental to the robotics community. When I managed an autonomous vehicle group in Nevada, I collected some data that I made publically available. You can find links to that data below.
Lidar in Snow
This is a ROS bag file containing point clouds collected by a single Velodyne VLP-16 lidar unit on top of our MKZ. The bag was recorded while we drove through a brief but intense snow storm.
A few items to note: The ROS package we used for our ROS driver is the
velodyne_puck package from Vijay Kumar’s
lab. You’ll
want to use that node to replay the bag file. The reference frame is
velodyne, and you’ll want to set use_sim_time to true on the ROS
parameter server before running any nodes (including the rviz
visualizer, if that’s something you use). Failing to use simulation
time has led to incoherent visualizations, so when you play the bag
file I recommend that you use the command:
rosbag play --clock snow.bag