利用kitti_to_rosbag转换工具
rosrun kitti_to_rosbag kitti_rosbag_converter calibration_path dataset_path output_path
我的路径
rosrun kitti_to_rosbag kitti_rosbag_converter /media/jinye/Passport/datasets/kitti/kitti_raw/2011_09_26 /media/jinye/Passport/datasets/kitti/kitti_raw/2011_09_26_drive_0001_sync /media/jinye/Passport/datasets/kitti/kitti_raw/2011_09_26_drive_0001_sync/test.bag
imu时间戳的问题可以参考
https://zhuanlan.zhihu.com/p/75672946
这篇文章
参考
https://github.com/ethz-asl/kitti_to_rosbag
https://github.com/PetWorm/kitti_to_rosbag_for_vio
https://zhuanlan.zhihu.com/p/75672946