ForestTrav ROS Bag Files - OHM maps and robot transforms
收藏DataCite Commons2025-02-06 更新2025-04-09 收录
下载链接：
https://data.csiro.au/collection/csiro%3A64539v2
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资源简介：
This data set contains recordings of field robots traversing vegetated environments. Data are recorded as rosbags -- the standard data recording format of the Robot Operating System (ROS), an open-source middleware for robotics. Each bag file contains the topics relevant to reproduce results or train new models from the related ForestTrav open-source code base (journal publication and code repository linked below in "Related Links").
The included topics in each bag file are:
Topic
|Message type
|Data description
--------
/r*/ohm
| sensor_msgs/PointCloud2
| Ohm point cloud data
/r*/tf
| tf/tfMessage
| Robot transform
/r*/tf_static
| tf2_msgs/TFMessage
| Static robot transforms
/[robot]/logging_state
| std_msgs/UInt8
| Collision state
/[robot]/logging_trigger
| std_msgs/UInt8
| Collision trigger state
Messages are timestamped via standard ROS protocols.
ROS bag files can be read using ROS tools. Example commands can be found here: https://wiki.ros.org/rosbag/Tutorials/reading%20msgs%20from%20a%20bag%20file
提供机构：
CSIRO
创建时间：
2025-02-06
