ROS 2 Bag Dataset for 2D LiDAR Particle-Interference Characterization in Gazebo

This dataset contains the experimental recordings used to characterize the effect of simulated particle interference on a 2D LiDAR sensor in a ROS 2 and Gazebo environment. The dataset comprises 30 valid ROS 2 bag recordings corresponding to six experimental conditions with five repetitions per condition. Two reference conditions are included: a nominal condition without the particle emitter (c0_nominal) and a condition with the emitter present but inactive (c1_inactive). Four active particle-emission conditions use emission rates of 50, 100, 200, and 400 particles/s (r050, r100, r200, and r400), while the scattering parameter is held constant at 0.50. All recordings contain the same seven ROS 2 topics, including the simulated 2D LiDAR scan, filtered odometry, simulation clock, experimental phase, particle-emission parameters, and online LiDAR perceptual-quality features. The dataset also includes the experimental configuration snapshot, a machine-readable manifest describing the 30 recordings, the original partial execution-plan artifact preserved for provenance, and SHA-256 checksums for integrity verification. The data are intended to support reproducible characterization and analysis of simulated LiDAR perceptual degradation caused by particle interference. The accompanying source code, configuration, simulation resources, analysis tools, tests, and documentation are available in the lidar_perceptual_quality software repository: https://github.com/kevinvalenciaaragon/lidar_perceptual_quality Dataset version: 1.0.0.