🗃️ Datasets
A collection of datasets recorded with SMapper
About a Dataset
The recorded datasets are saved as ROS 2 bag files1, a standard format for logging and replaying data within the ROS 2 ecosystem. Each dataset contains the following published topics:
| Topic Name | Message Type | Description | Frequency [Hz] |
|---|---|---|---|
/ouster/points |
sensor_msgs/PointCloud2 |
3D point cloud data captured by the Ouster OS0-64 LiDAR sensor. | 10 |
/ouster/imu |
sensor_msgs/Imu |
Inertial measurements (accelerometer and gyroscope) from the Ouster IMU. | 100 |
/camera/front_right/image_raw |
sensor_msgs/Image |
Raw image stream from the front-right high-resolution Argus camera. | 30 |
/camera/front_left/image_raw |
sensor_msgs/Image |
Raw image stream from the front-right high-resolution Argus camera. | 30 |
/camera/side_right/image_raw |
sensor_msgs/Image |
Raw image stream from the front-right high-resolution Argus camera. | 30 |
/camera/side_left/image_raw |
sensor_msgs/Image |
Raw image stream from the front-right high-resolution Argus camera. | 30 |
/pose |
geometry_msgs/Pose |
Estimated 6-DoF pose generated by FastLIO, a LiDAR-based odometry solution. | 10 |
/tf |
tf2_msgs/tfMessage |
Transformation messages | x |
-
Robot Operating System ↩