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ROS Objects to CSV

Use this to convert Autoware DetectedObjects or TrackingObjects to CSV.

  • TrackedObjectsToCSV: Subscribes to a topic for tracked objects and saves the data to a single CSV file.
  • DetectedObjectsToCSV: Subscribes to a topic for detected objects and saves the data to multiple CSV files named by timestamp.

How to use

Run detection and tracking

Run something like

  • Apollo + Autoware multi-object tracking

Build with appropriate msgs

autoware auto: git clone [email protected]:MapIV/autoware_auto_msgs.git

(optional) autoware_ai: git clone [email protected]:perceptionengine/autoware/autoware_iv_msgs.git branch ros2 --single-branch

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Run

Parameters:

  • csv_directory_path: The directory where CSV files will be saved. Default is /default/path/to/directory.
  • input_topic: The topic from which the node will subscribe to perception messages. Default is /tracked_objects for TrackedObjectsToCSV and /detected_objects for DetectedObjectsToCSV.

E.g.

ros2 launch objects_to_csv trackedobjectstocsv.launch.xml csv_directory_path:=/home/map4/Downloads
ros2 launch objects_to_csv trackedobjectstocsv.launch.xml csv_directory_path:=/home/map4/Downloads input_topic:/sensing/top/medium/rare/pandar_points