Operator and Robot Pose Data

This is a dataset of a .bag file format.

The data included in this dataset are collected during a 4 hour shift of an operator. The operator is working alongside a collaborative cobot (COMAU AURA). During his shift, the operator is performing the assembly of a solar collector. The collector is attached on the robotic gripper and is manipulated by the cobot, while the operator proceeds with the assembly. For this certain bag file, the ROS message definitions are included:

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ROS Message: geometry_msgs/TransformStamped

This expresses a transform from coordinate frame header.frame_id to the coordinate frame child_frame_id

Header header

string child_frame_id # the frame id of the child frame

Transform transform

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ROS Message: std_msgs/Header

Standard metadata for higher-level stamped data types. This is generally used to communicate timestamped data in a particular coordinate frame.

sequence ID: consecutively increasing ID

uint32 seq

Two-integer timestamp that is expressed as:

stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')

stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')

time-handling sugar is provided by the client library

time stamp

Frame this data is associated with

string frame_id

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ROS Message: geometry_msgs/Transform

This represents the transform between two coordinate frames in free space.

Vector3 translation

Quaternion rotation

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ROS Message: geometry_msgs/Vector3

This represents a vector in free space. It is only meant to represent a direction. Therefore, it does not make sense to apply a translation to it (e.g., when applying a generic rigid transformation to a Vector3, tf2 will only apply the rotation).

float64 x

float64 y

float64 z

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ROS Message: geometry_msgs/Quaternion

This represents an orientation in free space in quaternion form.

float64 x

float64 y

float64 z

float64 w