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).
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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