Multimodal Sensor Dataset from a Forest Environment in Adões using a Unitree Go1 Platform equipped with a Robosense BPearl LiDAR

Dataset Description:

This dataset was collected using a Unitree Go1 robot equipped with multiple sensors:

LiDAR Data: Acquired from a Robosense Bpearl.

IMU Data: Available through the /high_state topic published by the Unitree Go1.

RGB Images: Captured using a Realsense D435i camera.

To process this dataset, you will need the Unitree_transformer.py Python script, available at the provided URL, along with the necessary Unitree package.

Note: The transform for the LiDAR sensor is not included in the rosbag. To include it, manually add the following static transform to your ROS setup:Important: There was a camera malfunction midway through the dataset collection.