TARGET-X Manufacturing Vertical: Localization Data for Robotics – Ground Truth for Assembly Tasks (August 2025)

This dataset contains ground truth and localization data collected during experiments conducted on 20 August 2025 at the WZL Testbed as part of the TARGET-X project, within the Manufacturing Vertical. The experiments evaluated 5G-based positioning performance compared to SLAM (LiDAR-based) localization for a mobile robotic manipulator performing assembly-related motion tasks. The dataset provides synchronized ROS 2 bag files containing: 5G positioning data streams (timestamped localization data from the 5G positioning service) LiDAR-based SLAM pose estimates (using SLAM Toolbox) Ground truth reference trajectories Odometry and sensor fusion topics These data allow for reproducible benchmarking of 5G-based localization in robotic assembly contexts, assessing positioning accuracy, latency effects, and the potential of wireless-based localization in flexible manufacturing environments. File format: ROS 2 bag files (.db3) and supplementary metadata (.yaml)Testbed: WZL, RWTH Aachen UniversitySoftware stack: ROS 2 Humble, Nav2, SLAM Toolbox, rclcpp This dataset supports ongoing research activities in TARGET-X Work Package 2 – Manufacturing Vertical Implementation, specifically focused on 5G-enabled edge-controlled mobile manipulation and localization performance evaluation.