An Indoor Corridor Dataset with 2D LiDAR, RGB-D Images, and Wheel Odometry

This dataset contains an approximately 500-second indoor corridor recording acquired using a mobile robot equipped with a SLAMTEC RPLIDAR A1, an Intel RealSense D455 RGB-D camera, wheel odometry, and Wi-Fi signal measurements. The data are provided as a ROS 2 Humble rosbag2 recording in SQLite3 format. Recorded streams include 2D LiDAR scans, RGB images, depth images aligned to the RGB pixel grid, camera calibration, wheel odometry, Wi-Fi scans recorded on /wifi_signals, and a complete robot–sensor transform tree. RGB and aligned-depth images have a resolution of 424 × 240 pixels at approximately 15 Hz. The average recorded LiDAR, wheel-odometry, and Wi-Fi scan rates are approximately 6.40 Hz, 50 Hz, and 2 Hz, respectively. The dataset supports research on indoor 2D SLAM, multimodal sensor fusion, and Wi-Fi-assisted localization. Sensor mounting transforms include trajectory-based refinements and should not be interpreted as independently validated calibration. No independent ground-truth trajectory is included. The accompanying README documents the recorded topics, sensor configuration, camera intrinsics, coordinate frames, extrinsic transforms, calibration limitations, and playback instructions. The Wi-Fi topic uses the custom ROS 2 message type wifi_msgs/msg/WifiScan; compatible message definitions are required to deserialize it.