UGV-apple-august-2024

This dataset contains: [2024-08-05_10-47-44.bag]: Raw ROS 1 bag files (.bag) containing synchronised sensor streams recorded onboard a UGV. [metadata_2024-08-05-10:44:36.json]: Metadata detailing the LiDAR acquisition conditions and sensor specifications. [robot.urdf.xacro]: A Xacro model file describing the robot structure. [wholecloud_auzeville.txt]: An example of processed data provided in TXT format with paramters: X,Y,Z,intensity,ambient,reflectivity,stdev_reflectivity,echoe,echo_order,range,horizontal_angle,elevation_angle,passing_beams,inside_beams,local_gap_fraction Data were collected on 5 August 2024 in an apple orchard at the "Lycée agricole de Toulouse Auzeville", France.This dataset is designed to support research in 3D mapping, semantic segmentation, and tree structure analysis for agricultural robotics applications. **Primary sensor**: LiDAR - Ouster OS0-128 **Additional sensors**: RGB camera, IMU VN-300, Novatel FLEX6-G2S-ROG-CCN (GNSS+RTK), KVH DSP-3000 Gyroscope **Platform**: Ground mobile platform (UGV)ROSbag info: version: 2.0duration: 17:51s (1071s)start: Aug 05 2024 10:47:45.13 (1722847665.13)end: Aug 05 2024 11:05:37.12 (1722848737.12)size: 36.6 GBmessages: 2385160compression: bz2 [64131/64131 chunks; 52.66%]uncompressed: 69.5 GB @ 66.4 MB/scompressed: 36.6 GB @ 34.9 MB/s (52.66%)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 5549 msgs : rmp_msgs/Battery /frontal_camera_node/image_raw 10720 msgs : sensor_msgs/Image /gps/info 21082 msgs : gps_ros/gps_solution_s /gps/twist 21081 msgs : geometry_msgs/TwistWithCovarianceStamped /kvh/twist 102840 msgs : geometry_msgs/TwistWithCovarianceStamped /novatel/fix 21440 msgs : sensor_msgs/NavSatFix /ouster/imu_packets 133994 msgs : ouster_ros/PacketMsg /ouster/lidar_packets 1282376 msgs : ouster_ros/PacketMsg /ouster/metadata 1 msg : std_msgs/String /panoramic_camera_node/image_raw 9722 msgs : sensor_msgs/Image /pylon_camera_node/currentParams 20444 msgs : camera_control_msgs/currentParams /twist_rmp440 5549 msgs : geometry_msgs/TwistWithCovarianceStamped /vectornav/IMU/up 214391 msgs : sensor_msgs/Imu /vectornav/Twist_ENU 428780 msgs : geometry_msgs/TwistWithCovarianceStamped /xsens/imu 107191 msgs : sensor_msgs/Imu