Model-2E person following @ Quinta do Seixo
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下载链接：
https://zenodo.org/record/7850044
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资源简介：
In this dataset the Robot Model-2E was tested at quinta do seixo while performing human-following using UWB and vision fusion to obtain the target localization.
This dataset was record using the ROS2-foxy framework and contains two ros2 bags:
-Person position with UWB, cnn person detection and Lidar information
ros2 bag play Qta_seixo_Lidar
-Person position with UWB, cnn person detection and Lidar and visual information
ros2 bag play Qta_seixo_Lidar_cameras
Name of ROS2 topic
Type of ROS2 topic
Information
/Detections
vision_msgs/msg/Detection2DArray
This topic includes person detections from the monocular camera that is performing the Deep Learning object detection
/GT_POINT
geometry_msgs/msg/PointStamped
Contains the PointStamped message obtained from the LiDAR person detection for ground truth purposes
/distance_data_array
itrci_hardware/msg/RadioRangeDataArray
This topic has person detections from the 3 UWB Anchors relative to the person TAG (Note that is in custom ros2 message itrci_hardware)
/livox/lidar
sensor_msgs/msg/PointCloud2
This topic is the LiDAR pointcloud published by the livox, it may be usefull to use as ground truth or other applications. But it was not beeing used for person following
/camera_1_link/image/compressed
sensor_msgs/msg/CompressedImage
This topic is the image published by the OAK-1 camera 1
/camera_2_link/image/compressed
"""
This topic is the image published by the OAK-1 camera 2
/tf
tf2_msgs/msg/TFMessage
base_link and odom tf (robot is static)
/tf_static
tf2_msgs/msg/TFMessage
Contains tf information of LiDAR cameras and anchors relative to the robot base_link
创建时间：
2023-04-21
