ForestTrav ROS Bag Files - OHM maps and robot transforms

Full description

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
Lineage: The data was recorded in situ on a robotic platform using a lidar-IMU perception pack, processed using CSIRO's Wildcat SLAM navigation