RoboVAST Navigation Dataset: Replicable Simulation-Based Robot Validation through Provenance

Benchmarking dataset for autonomous navigation with a TurtleBot4 in simulation.Tests are conducted across five procedurally-generated environments (hospital, BRSUbuilding C, office, rooms, hallways) using Nav2 for path planning and execution.Each configuration generates 10 random start/goal pairs with 10 m pathlength and evaluates two Nav2 local costmap robot radius values (0.175 m and 0.22 m).Obstacle scenarios vary between randomly placed static boxes and distance-triggereddynamic obstacle spawning, providing coverage of both cluttered and reactive settings.Ten repetitions per variant are executed on GCP (c4) or locally. Results arepost-processed into CSV files from ROS 2 bags and published to Zenodo as structuredzip archives (base config, derived CSVs, environment JSON-LD, videos, raw bags).