A2D2 ROS Preparer

The A2D2 ROS Preparer converts the Audi Autonomous Driving Dataset (A2D2) to a Robot Operating System (ROS) bag. The sensor setup of the A2D2 vehicle includes five LiDARs, six cameras, bus signals and is structured in a dataset-specific form. The preparation for ROS enables the development of subsequent processes and algorithms to be more generic, as ROS is a widely used robotics middleware. Moreover, ROS offers a variety of software libraries and tools that can be employed directly.