Simulated attacks Rosbags against mobile robot in ROS 2

The present dataset consists of several rosbag files recorded during the execution of two proof-of-concept experiments simulating attacks on a mobile robot. The first experiment involves a denial-of-service attack by flooding the /input_joy/cmd_vel topic with messages of value 0. Two runs were performed: E1-1: Normal operation, without attack E1-2: Denial-of-service attack by flooding the topic at a publishing rate of 500 Hz The second experiment involves replacing the robot’s onboard camera. Three runs were performed: E2-1: Normal operation, without attack E2-2: Replacement of the original camera image (indoor) with an outdoor environment E2-3: Replacement of the original camera image (indoor) with an indoor environment (a corridor) Each run of experiment 2 includes two rosbag files: full_rosbag: contains the recording of the robot’s operation, including the camera image. camera_descriptions: contains only the textual descriptions generated by a VLM from the images recorded on the camera topic. This research is part of the project TESCAC, financed by “European Union NextGeneration-EU, the Recovery Plan, Transformation and Resilience, through INCIBE".