NavMap: dataset and experiments of "Representing Navigable Surfaces for Mobile Robots"

Data and results of the experiments in the paper "NavMap: Representing Navigable Surfaces for Mobile Robots". Every table and figure of the paper can be regenerated from these files with the scripts of the artifacts repository. Contents: navmap_paper_data.tar.gz: simulated lidar clouds of a three-floor parking garage and an excavation site, generated deterministically from their collision meshes, each also with the sensor position of every point; ground truth of the navigable surface from the meshes; the real two-floor building (SLAM map, scans, scan poses, cloud with sensor positions, NavMap and Bonxai maps); and the results (JSON) of every experiment. rosbags_prueba_00.tar to rosbags_prueba_03.tar: four ROS 2 rosbags (sqlite3) of a Summit XL robot mapping a two-floor building at Universidad Rey Juan Carlos along the same route: 32-ring lidar, IMU, wheel odometry, GPS and TF. prueba_03 is the run used in the paper. Unpack all five files into one folder. MANIFEST.md describes every file, its size, its SHA-256 and the script that produces it; SHA256SUMS lists the checksums.