The data of the real-world experiments we conducted are available here:
# Google Drive
https://drive.google.com/drive/folders/1_SPdmBnWIJTYyOIkyS0StbPMGVLdV_fw?usp=drive_link
Each data contains a ros bag, an information file, and a corresponding configuration file for solving:
-
radars_imus.bag
: the ros bag which contains the measurements of two IMUs and radars, they are:path: radars_imus.bag version: 2.0 duration: 3:26s (206s) start: Sep 26 2023 14:46:05.22 (1695710765.22) end: Sep 26 2023 14:49:31.50 (1695710971.50) size: 69.7 MB messages: 347984 compression: none [88/88 chunks] types: sbg_driver/SbgImuData [59cc541d794c367e71030fa700720826] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] ti_mmwave_rospkg/RadarScan [ca47afe7b19c0dbeb8f6b51574599509] topics: /imu1/frame 82507 msgs : sensor_msgs/Imu /imu2/frame 40424 msgs : sbg_driver/SbgImuData /radar1/scan 130741 msgs : ti_mmwave_rospkg/RadarScan /radar2/scan 94312 msgs : ti_mmwave_rospkg/RadarScan
-
duration.txt
: the file that records the time duration of the valid data piece (they are excited sufficiently, and thus could be used for calibration). -
config-real.yaml
: the corresponding configuration file.
The next steps are simple, just modify the file paths of the ros bag in the configuration file, and then configure the launch file of RIs-Calib
, i.e., ris-calib-prog.launch
in the ris_calib
folder. Then, we launch 'RIs-Calib
':
roslaunch ris_calib ris-calib-prog.launch
You could use scripts in 'ris_calib/scripts
' to draw figures: