feat: add Istanbul open dataset

Signed-off-by: Ata Parlar <[email protected]>

docs/datasets/index.md

@@ -2,6 +2,124 @@
 
 Autoware partners provide datasets for testing and development. These datasets are available for download here.
 
+## Istanbul Open Dataset
+
+The dataset is collected in the following route. Tunnels and bridges are annotated on the image.
+At the right bottom part of the route, extra roads are traversed.
+
+<p align='center'>
+    <img src="images/ist_dataset_route_2_resized.png" alt="ist_dataset_route2" width="80%"/>
+</p>
+
+### Leo Drive - Mapping Kit Sensor Data
+
+This dataset contains data from the portable mapping kit used for general mapping purposes.
+
+The data contains data from the following sensors:
+
+- 1 x Applanix POS LVX GNSS/INS System
+- 1 x Hesai Pandar XT32 LiDAR
+
+**For sensor calibrations, `/tf_static` topic is added.**
+
+### Data Links
+
+- You can find the produced full point cloud map, corner feature point cloud map and
+  surface feature point cloud map here:
+
+  - [https://drive.google.com/file/d/1wQJVjrVt47ScWDgYlOiClIUKCbNvarub/view?usp=drive_link](https://drive.google.com/file/d/1wQJVjrVt47ScWDgYlOiClIUKCbNvarub/view?usp=drive_link)
+  - Exported point clouds are exported via downsampling with 0.2 voxel grids.
+
+- You can find the ROS 2 bag which is collected simultaneously with the mapping data:
+
+  - [https://drive.google.com/drive/folders/1gI1HDEZzTL2HZngrumjb5sLJ3SzuLJGD?usp=drive_link](https://drive.google.com/drive/folders/1gI1HDEZzTL2HZngrumjb5sLJ3SzuLJGD?usp=drive_link)
+  - Due to the simultaneous data collection, we can assume that the point cloud maps and GNSS/INS
+    data are the ground truth data for this rosbag.
+
+- Additionally, you can find the raw data used for mapping at the below link:
+  - [https://drive.google.com/drive/folders/1Mf5FwUN5TxZIeKQKB1EBQyn_c2cxdE02?usp=drive_link](https://drive.google.com/drive/folders/1Mf5FwUN5TxZIeKQKB1EBQyn_c2cxdE02?usp=drive_link)
+  - Point clouds are collected as PCAP and feature-matched GNSS/INS data exported to a txt file.
+
+### Topic list
+
+For collecting the GNSS/INS data, [this](https://github.com/autowarefoundation/applanix) repository is used.
+
+For collecting the LiDAR data,
+[this](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0/tree/6a834ecb2830f466b63452c072fb44433046edb4)
+repository is used.
+
+| Topic Name                                      | Message Type                                          |
+| ----------------------------------------------- | ----------------------------------------------------- |
+| `/applanix/lvx_client/autoware_orientation`     | `autoware_sensing_msgs/msg/GnssInsOrientationStamped` |
+| `/applanix/lvx_client/imu_raw`                  | `sensor_msgs/msg/Imu`                                 |
+| `/applanix/lvx_client/twist_with_covariance`    | `geometry_msgs/msg/TwistWithCovarianceStamped`        |
+| `/applanix/lvx_client/odom`                     | `nav_msgs/msg/Odometry`                               |
+| `/applanix/lvx_client/gnss/fix`                 | `sensor_msgs/msg/NavSatFix`                           |
+| `/applanix/lvx_client/gsof/ins_solution_49`     | `applanix_msgs/msg/NavigationSolutionGsof49`          |
+| `/applanix/lvx_client/gsof/ins_solution_rms_50` | `applanix_msgs/msg/NavigationPerformanceGsof50`       |
+| `/lidar_packets`                                | `hesai_ros_driver/msg/UdpFrame`                       |
+| `/lidar_packets_loss`                           | `hesai_ros_driver/msg/LossPacket`                     |
+| `/lidar_points`                                 | `sensor_msgs/msg/PointCloud2`                         |
+| `/tf_static`                                    | `tf2_msgs/msg/TFMessage`                              |
+| `/rosout`                                       | `rcl_interfaces/msg/Log`                              |
+| `/events/write_split`                           | `rosbag2_interfaces/msg/WriteSplitEvent`              |
+| `/parameter_events`                             | `rcl_interfaces/msg/ParameterEvent`                   |
+
+#### Message Explanations
+
+Used drivers for sensors give output in default ROS 2 message types and their own ROS 2 message
+types for additional information. Following topics are the default ROS 2 message types:
+
+- `/applanix/lvx_client/imu_raw`
+
+  - Gives the output of INS system in ENU. Due to the 9-axis IMU, `yaw` value demonstrates the
+    heading value of the sensor.
+
+- `/applanix/lvx_client/twist_with_covariance`
+
+  - Gives the twist output of the sensor.
+
+- `/applanix/lvx_client/odom`
+
+  - Gives the position and orientation of the sensor from the starting point of the ROS 2 driver.
+    Implemented with `GeographicLib::LocalCartesian`.
+
+    **This topic is not related to the wheel odometry.**
+
+- `/applanix/lvx_client/gnss/fix`
+
+  - Gives the latitude, longitude and height values of the sensors.
+
+    **Ellipsoidal height of WGS84 ellipsoid is given as height value.**
+
+- `/lidar_points`
+
+  - Gives the point cloud from the LiDAR sensor.
+
+- `/lidar_packets`
+  - Gives the LiDAR packets.
+
+Also the Applanix raw messages are also included in the rosbag.
+In order to be able to play back these messages, you need to build and source
+the `applanix_msgs` package.
+
+```bash
+# Create a workspace and clone the repository
+mkdir -p ~/applanix_ws/src && cd "$_"
+git clone https://github.com/autowarefoundation/applanix.git
+cd ..
+
+# Build the workspace
+colcon build --symlink-install --packages-select applanix_msgs
+
+# Source the workspace
+source ~/applanix_ws/install/setup.bash
+
+# Now you can play back the messages
+```
+
+Also make sure to source Autoware Universe workspace too.
+
 ## Bus-ODD (Operational Design Domain) datasets
 
 ### Leo Drive - ISUZU sensor data