# 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... ### 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 - You can find the produced full point cloud map, corner feature point cloud map and surface feature point cloud map here: - [https://drive.google.com/drive/folders/1\_jiQod4lO6-V2NDEr3d-M3XF\_Nqmc0Xf?usp=drive\_link]() - Exported point clouds are exported via downsampling with 0.2 meters and 0.5 meters voxel grids. - You can find the ROS 2 bag which is collected simultaneously with the mapping data: - [https://drive.google.com/drive/folders/17zXiBeYlM90gQ5hV6EAWaoBTnNFoVPML?usp=drive\_link]() - Due to the simultaneous data collection, we can assume that the point cloud maps and GNSS/INS data are the ground truth data for this rosbag. - Additionally, you can find the raw data used for mapping at the below link: - [https://drive.google.com/drive/folders/1HmWYkxF5XvVCR27R8W7ZqO7An4HlJ6lD?usp=drive\_link]() - Point clouds are collected as PCAP and feature-matched GNSS/INS data exported to a txt file. ### 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**. - [https://github.com/orgs/autowarefoundation/discussions/5135]() ### Topic list For collecting the GNSS/INS data, the [applanix]() 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. ```bash # 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 Follow [the official AWS Command Line Interface (AWS CLI) installation guide]() to install AWS CLI on your machine: ```bash curl "https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip" -o "awscliv2.zip" unzip awscliv2.zip sudo ./aws/install ``` ```console # This will download the entire dataset to the current directory. # (About 10.9GB of data) $ aws s3 sync s3://autoware-files/recordings/bags/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/recordings/bags/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/recordings/bags/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. [Download the lidar data (about 553 MB)]() For the background of this dataset, see [autoware\_universe\#562]().