DS6_DMC_snake-like_robot_test_data

Power logs [power_date] are captured in a csv-file, with timestamped current, voltage and charge percentage values for the various battery modules in the robot.Robot internal state data [rosbag2_date] is captured in a ROS-bag database, accompanied by a metadata file [metadata.yml] that describes the content of the captured data.Navigation data is composed of multiple files: the map is stored in nodal representation in KWR_map_outside.yml, the route through that map in route.yml. The captured data during navigation is timestamped data from the XSens IMUs and Epson gyroscopes in IMU_data.7z (binary data files) and a csv-file [s_date.csv] containing timestamped distance traveled and velocity. The snake-like robot test platform was used to collect this data, navigating autonomously inside a test pipe network.