File Overview
At the following link, please find the listing of each experiment with its size, duration and distance travelled:
Contents of ROS Bags
Topics logged:
| Topic name | ROS Message Type | Sensor | Freq |
| /base_scan | sensor_msgs/LaserScan | Hokuyo UTM-30LX Laser | 40Hz |
| /tilt_scan | sensor_msgs/LaserScan | Hokuyo UTM-30LX Laser | 40Hz |
| /base_odometry/odm | nav_msgs/Odometry | Wheel Odom [Raw] | 44Hz |
| /robot_pose_ekf/odom_combined | geometry_msgs/PoseWithCovarianceStamped | Wheel Odom [Integrated] | 25Hz |
| /torso_lift_imu/data | sensor_msgs/Imu | Microstrain 3DM-GX2 IMU | 100Hz |
| /tf | tf/tfMessage | Various | 560Hz |
In addition most bags contain either the wide baseline stereo:
| /wide_stereo [l+r] | sensor_msgs/Image | Willow Garage Stereo | 30Hz |
| /wide_stereo info [l+r] | sensor_msgs/CameraInfo | n/a | 30Hz |
Or an RGB-D sensor (Microsoft Kinect):
| /camera [rgb+depth] | sensor_msgs/Image | Microsoft Kinect | 30Hz |
| /camera info [rgb+depth] | sensor_msgs/CameraInfo | n/a | 30Hz |
Other measurements logged are as follows:
| Topic name | ROS Message Type | Sensor | Freq |
| /base_odometry/odometer | pr2_mechanism_controllers/Odometer | XXXX | 1Hz |
| /torso_lift_imu/is_calibrated | std_msgs/Bool | XXXX | occasionally |
Data Provided
For each experiment we provide the following:
- Original ROS .bag file
- ROS .info file listing the topics in each bag file
In addition we also provide Ground Truth poses of the laser and stereo camera (left lens) for each frame of 17 of the bag.
Floorplans
These floorplans are presented as XML files and were curated by Alper Aydemir of KTH Royal Institute of Technology, Sweden:
3D Models
As built building models in various formats:
