Multimodal Sensor Dataset from a Forest Environment in Adões using a Unitree Go1 Platform equipped with a Velarray M1600 LiDAR

Dataset Description: This dataset was collected using a Unitree Go1 robot equipped with various sensors: LiDAR Data: Captured with a Velodyne Velarray M1600. IMU Data: Available via the /high_state topic published by the Unitree Go1. RGB Images: Streamed from a Realsense D435i camera. To process this dataset, you will need the Unitree_transformer.py Python script, which can be found at the provided URL. Ensure that the Unitree package is also installed. Note: The LiDAR transform is not included in the rosbag file. To incorporate this transform, manually add the following static transform to your ROS setup:<node pkg="tf" type="static_transform_publisher" name="lidar_0_broadcaster" args="0.15 0 0.13 0 0 0 base lidar_0 0.1" />