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

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

KITTI visualization screenshot KITTI visualization screenshot KITTI visualization screenshot KITTI visualization screenshot

Summary

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

遇到的问题与解决

问题 原因 解决方案
环境配置报错 依赖版本不兼容 查阅官方文档确认版本匹配后重新安装
命令执行无响应 环境变量未加载 执行 source 加载 ROS2 环境脚本
截图无法正常显示 图片路径错误 检查相对路径，确保文件在正确目录
代码运行失败 缺少依赖包 使用 pip install 补全缺失的依赖

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