Week 06 - KITTI Dataset And Multi-Sensor Visualization

Task Goal

This week works with KITTI-style sensor data and ROS2 visualization. The goal is to publish point cloud and image data, then inspect the result with visualization tools.

Folder Check

week6/
|-- README.md          # required report
|-- img/               # visualization image

Environment

• ROS2 Jazzy
• KITTI Raw Dataset
• RViz2
• RQT
• cv_bridge

Steps

1. Study the KITTI dataset structure.
2. Convert point cloud and image data into ROS2 messages.
3. Run the publisher node.
4. Inspect the output with RViz2 and RQT.

Commands

ros2 run ros2_kitti_publishers publisher_node
rviz2
rqt

Result

Summary

Multi-sensor visualization is a key robot perception skill. This week strengthens the connection between datasets, ROS2 message types, and visual debugging tools.

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