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Datasets

Autoware partners provide datasets for testing and development. These datasets are available for download here.

Istanbul Open Dataset

The dataset is collected in the following route. Tunnels and bridges are annotated on the image. The included specific areas into the dataset are:

  • Galata Bridge (Small Bridge)
  • Eurasia Tunnel (Long Tunnel with High Elevation Changes)
  • 2nd Bosphorus Bridge (Long Bridge)
  • Kagithane-Bomonti Tunnel (Small Tunnel)
  • Viaducts, road junctions, highways, dense urban areas...

ist_dataset_route2

Leo Drive - Mapping Kit Sensor Data

This dataset contains data from the portable mapping kit used for general mapping purposes.

The data contains data from the following sensors:

  • 1 x Applanix POS LVX GNSS/INS System
  • 1 x Hesai Pandar XT32 LiDAR

For sensor calibrations, /tf_static topic is added.

Data Links

Localization Performance Evaluation with Autoware

The report of the performance evaluation of the current Autoware with the collected data can be found in the link below.

The report documented at 2024-08-28.

Topic list

For collecting the GNSS/INS data, this repository is used.

For collecting the LiDAR data, nebula repository is used.

Topic Name Message Type
/applanix/lvx_client/autoware_orientation autoware_sensing_msgs/msg/GnssInsOrientationStamped
/applanix/lvx_client/imu_raw sensor_msgs/msg/Imu
/localization/twist_estimator/twist_with_covariance geometry_msgs/msg/TwistWithCovarianceStamped
/applanix/lvx_client/odom nav_msgs/msg/Odometry
/applanix/lvx_client/gnss/fix sensor_msgs/msg/NavSatFix
/clock rosgraph_msgs/msg/Clock
/pandar_points sensor_msgs/msg/PointCloud2
/tf_static tf2_msgs/msg/TFMessage

Message Explanations

Used drivers for sensors give output in default ROS 2 message types and their own ROS 2 message types for additional information. Following topics are the default ROS 2 message types:

  • /applanix/lvx_client/imu_raw

    • Gives the output of INS system in ENU. Due to the 9-axis IMU, yaw value demonstrates the heading value of the sensor.

  • /applanix/lvx_client/twist_with_covariance

    • Gives the twist output of the sensor.

  • /applanix/lvx_client/odom

    • Gives the position and orientation of the sensor from the starting point of the ROS 2 driver. Implemented with GeographicLib::LocalCartesian.

      This topic is not related to the wheel odometry.

  • /applanix/lvx_client/gnss/fix

    • Gives the latitude, longitude and height values of the sensors.

      Ellipsoidal height of WGS84 ellipsoid is given as height value.

  • /pandar_points

    • Gives the point cloud from the LiDAR sensor.

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.

Click here to download (~553MB)

Reference Issue