Running the code

It is necessary to run a (one and only one) roscore first, and load some parameters. This is best achieved by:

roslaunch stdr_common junior2.launch

playing back data

Next, playback some data; for example:

rosrun log_and_playback raw_playback run3-*.*

Static transforms

Also, for most of the packages, they will need some static transforms:

roslaunch stdr_common junior2-static_transforms.launch

Ignore the errors related to camera5, it's just that the transform is not defined (yet) for the top camera, and it does not matter as we don't use it.

Visualization with rviz

Now, to visualize the data, run rviz:

rosrun rviz rviz

Within rviz, on the left, under Global Options, set Fixed Frame to smooth to view the world in smooth coordinates.

On the right, under Current View, change Target Frame to base_link. Click Zero to center the screen on the car.

Under Grid on the left, change Reference Frame to base_link, change Plane Cell Count to 1000 and Cell Size to 10.

Next, click Add, click the tab by topic, and scroll down to: /velodyne-> /points -> PointCloud2

For the points, change:

• Selectable: No
• style: Points
• Decay Time: 0.15
• Color Transform: Intensity
• Use rainbow: No

Next, click "Add" and select Passat to view the vehicle.