"Real-Time Publish Subscribe ATTACK DATASET"

"This dataset contains RTPS and ARP packet captures collected from a ROS2-based Unmanned Ground Vehicle (UGV) testbed under both benign and malicious conditions. Two representative attack types were performed: Command Injection and Command Injection combined with ARP Spoofing. Data were recorded across four time durations (180, 300, 600, 1200 seconds), with 30 scenarios per duration, totaling 240 scenarios.A complete RTPS\/DDS communication environment was assembled using a UGV, Controller (ROS2 Foxy), Router, and Attacker PC. Packets were captured from both the victim robot and the attacker side, allowing detailed comparison of normal and manipulated RTPS traffic. The dataset aims to support research on anomaly detection, RTPS protocol security, robot network forensics, and cyber-physical security in ROS2 and Fast-DDS environments."