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| "name": "a2d2-ros-preparer", | | "name": "a2d2-ros-preparer", |
| "notes": "The *A2D2 ROS Preparer* is a software tool that converts | | "notes": "The *A2D2 ROS Preparer* is a software tool that converts |
| the [Audi Autonomous Driving Dataset | | the [Audi Autonomous Driving Dataset |
| (A2D2)](https://www.a2d2.audi/a2d2/en.html) to a [Robot Operating | | (A2D2)](https://www.a2d2.audi/a2d2/en.html) to a [Robot Operating |
| System](https://www.ros.org/) (ROS) bag. The [sensor | | System](https://www.ros.org/) (ROS) bag. The [sensor |
| setup](https://www.a2d2.audi/a2d2/en/sensor-setup.html) of the A2D2 | | setup](https://www.a2d2.audi/a2d2/en/sensor-setup.html) of the A2D2 |
| vehicle includes five LiDARs, six cameras, bus signals and is | | vehicle includes five LiDARs, six cameras, bus signals and is |
| structured in a dataset-specific form. The preparation for ROS enables | | structured in a dataset-specific form. The preparation for ROS enables |
| the development of subsequent processes and algorithms to be more | | the development of subsequent processes and algorithms to be more |
| universally applicable, as ROS is a widely used robotics middleware. | | universally applicable, as ROS is a widely used robotics middleware. |
| Moreover, ROS offers a variety of software libraries and tools that | | Moreover, ROS offers a variety of software libraries and tools that |
| can be employed directly.\r\nThe following video shows the ROS | | can be employed directly.\r\nThe following video shows the ROS |
| t | visualization tool [rViz](https://wiki.ros.org/rviz):\r\n<iframe | t | visualization tool [rViz](https://wiki.ros.org/rviz) playing back this |
| width=\"560\" height=\"315\" | | dataset:\r\n<iframe width=\"560\" height=\"315\" |
| src=\"https://www.youtube.com/embed/uoTmNCU2IDM?si=jjHjjn0jjpKjo29k\" | | src=\"https://www.youtube.com/embed/uoTmNCU2IDM?si=jjHjjn0jjpKjo29k\" |
| title=\"YouTube video player\" frameborder=\"0\" | | title=\"YouTube video player\" frameborder=\"0\" |
| allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; | | allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; |
| gyroscope; picture-in-picture; web-share\" | | gyroscope; picture-in-picture; web-share\" |
| allowfullscreen></iframe>\r\n\r\nWithin the [SAVeNoW research | | allowfullscreen></iframe>\r\n\r\nWithin the [SAVeNoW research |
| project](https://savenow.de), the *A2D2 ROS Preparer* is used for | | project](https://savenow.de), the *A2D2 ROS Preparer* is used for |
| executing a simultaneous localization and mapping (SLAM) algorithm on | | executing a simultaneous localization and mapping (SLAM) algorithm on |
| the vehicle dataset. A detailed documentation page is provided | | the vehicle dataset. A detailed documentation page is provided |
| [here](https://a2d2-ros-preparer.readthedocs.io/).\r\n", | | [here](https://a2d2-ros-preparer.readthedocs.io/).\r\n", |
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Benedikt Schwab: