Data acquired at Forest with RTK GNSS

These bag files were recorded to test the GNSS RTK using two different technologies. The first bag "rosbag2_2023_04_11-16_40_36" used a RENEP public RTCM base while the second bag used the a fixed based installed in our terrain. We have also recorded: Topic: /base/fix | Type: sensor_msgs/msg/NavSatFix | Count: 754 | Serialization Format: cdr<br> Topic: /base/navrelposned | Type: ublox_msgs/msg/NavRELPOSNED9 | Count: 754 | Serialization Format: cdr<br> Topic: /odom | Type: nav_msgs/msg/Odometry | Count: 1510 | Serialization Format: cdr<br> Topic: /rover/fix | Type: sensor_msgs/msg/NavSatFix | Count: 394 | Serialization Format: cdr<br> Topic: /rover/navrelposned | Type: ublox_msgs/msg/NavRELPOSNED9 | Count: 394 | Serialization Format: cdr<br> Topic: /rslidar_points | Type: sensor_msgs/msg/PointCloud2 | Count: 755 | Serialization Format: cdr<br> Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 3021 | Serialization Format: cdr<br> Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 1 | Serialization Format: cdr<br> <br>

本数据集的所有rosbag2数据包均用于测试基于两种不同技术的全球导航卫星系统实时动态差分（GNSS RTK）性能。其中第一个数据包`rosbag2_2023_04_11-16_40_36`采用RENEP公开RTCM基准站，第二个数据包则使用了部署于本实验场地的固定基准站。本次录制采集了以下话题数据：<br>话题：/base/fix | 消息类型：sensor_msgs/msg/NavSatFix | 消息条数：754 | 序列化格式：cdr<br>话题：/base/navrelposned | 消息类型：ublox_msgs/msg/NavRELPOSNED9 | 消息条数：754 | 序列化格式：cdr<br>话题：/odom | 消息类型：nav_msgs/msg/Odometry | 消息条数：1510 | 序列化格式：cdr<br>话题：/rover/fix | 消息类型：sensor_msgs/msg/NavSatFix | 消息条数：394 | 序列化格式：cdr<br>话题：/rover/navrelposned | 消息类型：ublox_msgs/msg/NavRELPOSNED9 | 消息条数：394 | 序列化格式：cdr<br>话题：/rslidar_points | 消息类型：sensor_msgs/msg/PointCloud2 | 消息条数：755 | 序列化格式：cdr<br>话题：/tf | 消息类型：tf2_msgs/msg/TFMessage | 消息条数：3021 | 序列化格式：cdr<br>话题：/tf_static | 消息类型：tf2_msgs/msg/TFMessage | 消息条数：1 | 序列化格式：cdr<br>