Multimodal Sensor Dataset from Wood/Forest Environment - iParque

This forestry robotic dataset comprises a woodland scenario with a relatively open sky view, iParque Park, Coimbra, Portugal ( 40º17'64.826''N; -8º46'86.631''W).The dataset contains information on rosbags with different rostopics of various sensors, with a total distance covered of approximately 950 meters.The dataset was broken into rosbags with a maximum storage of 10GB each. The recorded topics were as follows: Velarray M1600 LiDAR point clouds data (sensor_msgs/PointCloud2) @20Hz; Realsense Intel D435i compressed image data, compressed depth info, alongside camera info (sensor_msgs/CompressedImage + sensor_msgs/CompressedImage + sensor_msgs/CameraInfo) @30Hz; Mynt Eye S1030 left camera data alongside camera info (sensor_msgs/Image + sensor_msgs/CameraInfo) @20Hz; Mynt Eye S1030 right camera data alongside camera info (sensor_msgs/Image + sensor_msgs/CameraInfo) @20Hz; IMU sensor data, alongside magnetometer data (sensor_msgs/Imu + sensor_msgs/MagneticField) @100Hz; RTK GNSS information on the trajectory taken (sensor_msgs/NavSatFix) @1Hz.