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tizianoGuadagnino merged 2 commits into from
Jan 26, 2025
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Add a sample bag #29

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benemer Jan 23, 2025
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benemer Jan 23, 2025
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12 changes: 12 additions & 0 deletions README.md
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Expand Up @@ -97,7 +97,19 @@ You can run both the `online_node` and the `offline_node` on a 2D Laser topic (w
```sh
ros2 launch kinematic_icp online_node.launch.py lidar_topic:=<LASER_2D_TOPIC> use_2d_lidar:=true
```
## Sample data

If you want to test the code on a sample bag file, just download it [here](https://www.ipb.uni-bonn.de/html/projects/kinematic-icp/2024-08-23-11-05-41_0_clipped.mcap) and run

```sh
ros2 launch kinematic_icp offline_node.launch.py lidar_topic:=/lidar_points bag_filename:=./2024-08-23-11-05-41_0_clipped.mcap
```

or for the 2D LiDAR

```sh
ros2 launch kinematic_icp offline_node.launch.py lidar_topic:=/front_scan bag_filename:=./2024-08-23-11-05-41_0_clipped.mcap use_2d_lidar:=true
```

## Citation

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