Multimodal Sensor Dataset from a Forest Environment in Adões using a Unitree Go1 Platform equipped with a Robosense BPearl LiDAR

Dataset Description: This dataset was collected using a Unitree Go1 robot equipped with multiple sensors: LiDAR Data: Acquired from a Robosense Bpearl. IMU Data: Available through the /high_state topic published by the Unitree Go1. RGB Images: Captured using a Realsense D435i camera. To process this dataset, you will need the Unitree_transformer.py Python script, available at the provided URL, along with the necessary Unitree package. Note: The transform for the LiDAR sensor is not included in the rosbag. To include it, manually add the following static transform to your ROS setup:<node pkg="tf" type="static_transform_publisher" name="rslidar_broadcaster" args="0.15 0 0.13 0 0.309017 0 base rslidar 0.1" />Important: There was a camera malfunction midway through the dataset collection.