UGV_platform_sensor_dataset_VIAS_2nd collection round [2]

Description The dataset contains RGB-D image streams and 3D LIDAR point cloud gathered in the second visit to VIAS metro facilities. 3 Intel D-435f and LIVOX 3D LIDAR were mounted on wheeled platform mounted in rails. To visualize the gathered data in RVIZ follow the next steps: Launch roscore: $ roscore Publish static livox frame: $ rosrun tf static_transform_publisher 0 0 0 0 0 0 1 camera1_link livox_frame 100 Play in loop desired rosbag: $ rosbag play 2024-09-17-XX-XX-XX_X.bag -l Launch RVIZ and open vias.rviz config in settings: $ rviz The following topics have been recorded on the bag files: Intel camera looking at rail (bolts and clips) is camera 3. /camera3/aligned_depth_to_color/camera_info /camera3/aligned_depth_to_color/image_raw /camera3/aligned_depth_to_color/image_raw/compressed /camera3/aligned_depth_to_color/image_raw/compressedDepth /camera3/color/camera_info /camera3/color/image_raw /camera3/color/image_raw/compressed /camera3/color/metadata /camera3/depth/camera_info /camera3/depth/image_rect_raw /camera3/depth/image_rect_raw/compressed /camera3/depth/image_rect_raw/compressedDepth /camera3/depth/metadata /camera3/realsense2_camera_manager/bond Point-cloud data from LIVOX 3D Lidar can be seen in: /livox/imu /livox/lidar