# KITTIデータセットのダウンロード
$ mkdir bag
$ cd bag
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0093/2011_09_26_drive_0093_sync.zip
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0093/2011_09_26_drive_0093_extract.zip
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0093_sync.zip
$ unzip 2011_09_26_drive_0093_extract.zip
$ unzip 2011_09_26_calib.zip

# LIO-SAM入力用のROSBagファイル生成
pip install tqdm
python3 ../src/LIO-SAM/config/doc/kitti2bag/kitti2bag.py -t 2011_09_26 -r 0093 raw_synced .

# ROSBagファイルの再生
rosbag play kitti_2011_09_26_drive_0093_synced.bag
