UGV-apple-november-2024

This dataset contains: [2024-10-11_16-14-36_v2.bag]: Raw ROS 1 bag files (.bag) containing synchronised sensor streams recorded onboard a UGV. [metadata_2024-10-11-16:38:30.json]: Metadata detailing the LiDAR acquisition conditions and sensor specifications. [robot.urdf.xacro]: A Xacro model file describing the robot structure. [wholecloud_auzeville.txt]: An example of processed data provided in TXT format with paramters: X,Y,Z,intensity,ambient,reflectivity,stdev_reflectivity,echoe,echo_order,range,horizontal_angle,elevation_angle,passing_beams,inside_beams,local_gap_fraction [LiDAR aligned scans.zip]: It contains 685 LiDAR scans transforamos to be aligned to form the complete point cloud. Data were collected on 10 November 2024 in an apple orchard at the "Lycée agricole de Toulouse Auzeville", France.This dataset is designed to support research in 3D mapping, semantic segmentation, and tree structure analysis for agricultural robotics applications. **Primary sensor**: LiDAR - Ouster OS0-128 **Additional sensors**: RGB camera, IMU VN-300, Novatel FLEX6-G2S-ROG-CCN (GNSS+RTK), KVH DSP-3000 Gyroscope **Platform**: Ground mobile platform (UGV) ROSbag info: version: 2.0duration: 11:55s (715s)start: Oct 11 2024 16:14:37.54 (1728656077.54)end: Oct 11 2024 16:26:33.06 (1728656793.06)size: 36.5 GBmessages: 1570367compression: none [38461/38461 chunks]types: camera_control_msgs/currentParams [442a674eef3748e9fe89b83004286960] geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96] gps_ros/gps_solution_s [955a295f9868f5be5174ea7f7ef9ebdb] ouster_ros/PacketMsg [4f7b5949e76f86d01e96b0e33ba9b5e3] rmp_msgs/Battery [f734bf38f159e9150d68440a3d2fe845] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48] std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]topics: /base/rmp440le/battery 3753 msgs : rmp_msgs/Battery /gps/info 13668 msgs : gps_ros/gps_solution_s /gps/twist 13667 msgs : geometry_msgs/TwistWithCovarianceStamped /kvh/twist 68664 msgs : geometry_msgs/TwistWithCovarianceStamped /novatel/fix 14310 msgs : sensor_msgs/NavSatFix /novatel_imu 716 msgs : sensor_msgs/Imu /ouster/imu_packets 89437 msgs : ouster_ros/PacketMsg /ouster/lidar_packets 847637 msgs : ouster_ros/PacketMsg /ouster/metadata 1 msg : std_msgs/String /panoramic_camera_node/image_raw 6956 msgs : sensor_msgs/Image /pylon_camera_node/currentParams 6958 msgs : camera_control_msgs/currentParams /twist_rmp440 3753 msgs : geometry_msgs/TwistWithCovarianceStamped /vectornav/IMU/up 143100 msgs : sensor_msgs/Imu /vectornav/Twist_ENU 286200 msgs : geometry_msgs/TwistWithCovarianceStamped /xsens/imu 71547 msgs : sensor_msgs/Imu