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.数据集说明： 本数据集由搭载多类传感器的Unitree Go1机器人采集得到： 激光雷达（LiDAR）数据：由Robosense Bpearl激光雷达采集获取。 惯性测量单元（IMU）数据：通过Unitree Go1发布的`/high_state`话题获取。 RGB图像：由Realsense D435i相机采集得到。 处理本数据集需使用提供链接中可获取的`Unitree_transformer.py`Python脚本，以及所需的Unitree工具包。 注意：激光雷达传感器的坐标变换未包含在rosbag数据包中。若需添加该变换，请手动向你的机器人操作系统（ROS）配置中添加以下静态变换命令：<node pkg="tf" type="static_transform_publisher" name="rslidar_broadcaster" args="0.15 0 0.13 0 0.309017 0 base rslidar 0.1" />重要提示：数据集采集过程中相机曾中途出现故障。