UGV_platform_sensor_dataset_VIAS_2nd collection round [1]

The dataset contains RGB-D image streams and 3D LIDAR point cloud gathered in the second visit to VIAS metro facilities. 3 Intel D-435f and LIVOX 3D LIDAR were mounted on wheeled platform mounted in rails. To visualize the gathered data in RVIZ follow the next steps:

Launch roscore:  $ roscore

Publish static livox frame:  $ rosrun tf static_transform_publisher 0 0 0 0 0 0 1 camera1_link livox_frame 100

Play in loop desired rosbag:  $ rosbag play 2024-09-17-XX-XX-XX_X.bag -l 

Launch RVIZ and open vias.rviz config in settings: $ rviz

The following topics have been recorded on the bag files:

Intel camera looking at rail (bolts and clips) is camera 3.

/camera3/aligned_depth_to_color/camera_info

/camera3/aligned_depth_to_color/image_raw

/camera3/aligned_depth_to_color/image_raw/compressed

/camera3/aligned_depth_to_color/image_raw/compressedDepth

/camera3/color/camera_info

/camera3/color/image_raw

/camera3/color/image_raw/compressed

/camera3/color/metadata

/camera3/depth/camera_info

/camera3/depth/image_rect_raw

/camera3/depth/image_rect_raw/compressed

/camera3/depth/image_rect_raw/compressedDepth

/camera3/depth/metadata

/camera3/realsense2_camera_manager/bond

Point-cloud data from LIVOX 3D Lidar can be seen in: 

/livox/imu

/livox/lidar