LiDAR-IMU-GNSS localization dataset (Gazebo: Prius On Sonoma Raceway)

A dataset for LiDAR-IMU-GNSS localization. This is a synthetic dataset generated with the Prius on Sonoma Raceway scene in Gazebo. All sequences are recoreded in the ROS2 bag format. Files rosbag2_2026_07_02-13_42_01 : Sequence 1 (209.6s) rosbag2_2026_07_02-13_51_33 : Sequence 2 (179.6s) sonoma.ply : Map data generated using GLIM running on Sequence 1 Topics /prius/cmd_vel | Type: geometry_msgs/msg/Twist /prius/gnss/fix | Type: sensor_msgs/msg/NavSatFix /prius/gnss/pose | Type: geometry_msgs/msg/PoseStamped /prius/imu | Type: sensor_msgs/msg/Imu /prius/odom | Type: nav_msgs/msg/Odometry /prius/points | Type: sensor_msgs/msg/PointCloud2 /tf | Type: tf2_msgs/msg/TFMessage /tf_static | Type: tf2_msgs/msg/TFMessage sonoma.ply