🚀 Example on Datasets

Warning

For execution of the experiments we use mprocs, which makes the process of launching different processes easier.

Real Dataset

Dataset Download

Download real dataset using this link and store it in the folder ~/Downloads/real, the below mprocs script will not work otherwise.

cd $HOME/workspaces/s_graphs && mprocs --config .real_mprocs.yaml

(Optional)

1. Call the /s_graphs/dump service from the situational_graphs_msgs package to view the data frames.

   ros2 service call /s_graphs/dump situational_graphs_msgs/srv/DumpGraph
   

2. Go to cd /tmp/s_graphs_data_2025-7_1_18_7_38 to see usefull data such as keyframes and floors.

   Visualize the data with libraries such as open3d or other pcd libraries