ROS2 bagfiles associated to the European project Robs4Crops

This project contains multiple datasets in the form of ROS2 bagfiles, recorded during various agricultural robotics experiments in diverse environments: vineyards and apple orchards. Each dataset includes sensor data collected from agricultural vehicles (two retrofitted tractors and a differential robot called Carob) equipped with state-of-the-art perception, localization, and navigation systems.  

The datasets include:  - Camera data: RGB images, depth information, and camera calibration details.- LiDAR data: 3D point clouds from the environment.- IMU data: acceleration and angular rates.  - GNSS data: Global positioning for outdoor localization in format WGS84.- Transformations: Static and dynamic transformations between sensor frames and vehicle base frames.

Each experiment contains a readme.docx file that documents the sensor configurations, frame conventions, and trajectories followed during the experiment and other relevant information to understand how to use the data in the proper dataset.