uses torch 1.13 which requires cuda 11.6/11.7
install python requirments with the requiremnts.txt file
There is one ros bag with the raw data stored in ""data/timestamp/run0.bag"
There is one cvs file with resampled data at 10Hz with different data representations.
the file is stored in "./test_data_clean/csv/run0.csv".
The code to generate the csv file is clean_bag.py
The code with the integration of the ground truth velocity is 'debug.ipynb'.