UGV-parking-lidar

This dataset contains a ROS bag file and accompanying metadata for LiDAR-based mapping of a parking environment. It was recorded using a mobile robotic platform equipped with a 3D LiDAR sensor, with the goal of supporting research in localisation, mapping, and perception in structured outdoor scenarios. The dataset includes: [2024-07-16_16-08-24.bag]: Raw ROS 1 bag files (.bag) containing synchronised sensor streams recorded onboard a UGV. [metadata_2024-07-16-16:05:54]: Metadata detailing the LiDAR acquisition conditions and sensor specifications. [robot.urdf.xacro]: A Xacro model file describing the robot structure. ROSbag info: version: 2.0duration: 6:20s (380s)start: Jul 16 2024 16:08:24.65 (1721138904.65)end: Jul 16 2024 16:14:44.66 (1721139284.66)size: 26.1 GBmessages: 870545compression: none [25427/25427 chunks]types: camera_control_msgs/currentParams [442a674eef3748e9fe89b83004286960] geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96] gps_ros/gps_solution_s [955a295f9868f5be5174ea7f7ef9ebdb] ouster_ros/PacketMsg [4f7b5949e76f86d01e96b0e33ba9b5e3] rmp_msgs/Battery [f734bf38f159e9150d68440a3d2fe845] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48] std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]topics: /base/rmp440le/battery 1989 msgs : rmp_msgs/Battery /frontal_camera_node/image_raw 3800 msgs : sensor_msgs/Image /gps/info 7414 msgs : gps_ros/gps_solution_s /kvh/twist 36456 msgs : geometry_msgs/TwistWithCovarianceStamped /novatel/fix 7601 msgs : sensor_msgs/NavSatFix /ouster/imu_packets 47500 msgs : ouster_ros/PacketMsg /ouster/lidar_packets 486402 msgs : ouster_ros/PacketMsg /ouster/metadata 1 msg : std_msgs/String /panoramic_camera_node/image_raw 3800 msgs : sensor_msgs/Image /pylon_camera_node/currentParams 7601 msgs : camera_control_msgs/currentParams /twist_rmp440 1989 msgs : geometry_msgs/TwistWithCovarianceStamped /vectornav/IMU/up 75998 msgs : sensor_msgs/Imu /vectornav/Twist_ENU 151996 msgs : geometry_msgs/TwistWithCovarianceStamped /xsens/imu 37998 msgs : sensor_msgs/Imu