PoC2 - Environmental Supporting Human Workers in Harvesting: real-world 9-UAV validation.

This dataset contains a real-world multi-UAV deployment performed in forest environments using a coordinated fleet of nine autonomous aerial vehicles. The dataset captures the operation of the complete integrated system during continuous field experiments, including localization, mapping, trajectory generation, communication, state estimation, obstacle representation, and autonomous navigation components. The dataset was recorded using ROS and includes synchronized onboard telemetry, state estimation, GNSS/RTK information, LiDAR point clouds, octomap representations, planning visualization topics, trajectory generation outputs, and TF transformations for all UAVs. The dataset is intended for research in: GPS/RTK-based localization LiDAR perception Octomap-based planning ROS-based autonomous systems /$UAV_NAME/mavros.* /$UAV_NAME/rtk.* /$UAV_NAME/hw_api.* /$UAV_NAME/witmotion_imu/imu /$UAV_NAME/gnss_verifier/gnss_wstatus /$UAV_NAME/lslidar/pcl_filtered /$UAV_NAME/estimation_manager/odom_main /$UAV_NAME/odometry/gps /$UAV_NAME/Odometry /$UAV_NAME/home_distance /$UAV_NAME/distance_travelled /$UAV_NAME/octomap_global_vis/free_cells_vis_array_throttled /$UAV_NAME/octomap_global_vis/occupied_cells_vis_array_throttled /$UAV_NAME/octomap_local_vis/free_cells_vis_array_throttled /$UAV_NAME/octomap_local_vis/occupied_cells_vis_array_throttled /$UAV_NAME/octomap_planner/path /$UAV_NAME/octomap_planner/visualize_input /$UAV_NAME/octomap_planner/visualize_planner /$UAV_NAME/octomap_planner/visualize_processed /$UAV_NAME/trajectory_generation.* /tf