ForestTrav ROS Bag Files - OHM maps and robot transforms

This data set contains recordings of field robots traversing vegetated environments. Data are recorded as rosbags -- the standard data recording format of the Robot Operating System (ROS), an open-source middleware for robotics. Each bag file contains the topics relevant to reproduce results or train new models from the related ForestTrav open-source code base (journal publication and code repository linked below in "Related Links").\n\nThe included topics in each bag file are:\n\nTopic \n|Message type \n|Data description\n--------\n\n/r*/ohm\n| sensor_msgs/PointCloud2\n| Ohm point cloud data\n\n/r*/tf\n| tf/tfMessage\n| Robot transform\n\n/r*/tf_static\n| tf2_msgs/TFMessage\n| Static robot transforms\n\n/[robot]/logging_state\n| std_msgs/UInt8\n| Collision state\n\n/[robot]/logging_trigger\n| std_msgs/UInt8\n| Collision trigger state\n\nMessages are timestamped via standard ROS protocols.\n \nROS bag files can be read using ROS tools. Example commands can be found here: https://wiki.ros.org/rosbag/Tutorials/reading%20msgs%20from%20a%20bag%20file\nLineage: The data was recorded in situ on a robotic platform using a lidar-IMU perception pack, processed using CSIRO's Wildcat SLAM navigation