Data Downloads

Log File Overview


Messages logged:

PR2 Message ChannelROS Message TypeSensorFreq
/base_scansensor_msgs/LaserScanHokuyo UTM-30LX Laser40Hz
/tilt_scansensor_msgs/LaserScanHokuyo UTM-30LX Laser40Hz
/base_odometry/odmnav_msgs/OdometryWheel Odom [Raw]44Hz
/robot_pose_ekf/odom_combinedgeometry_msgs/PoseWithCovarianceStampedWheel Odom [Integrated]25Hz
/torso_lift_imu/datasensor_msgs/ImuMicrostrain 3DM-GX2 IMU100Hz
/tftf/tfMessageVarious560Hz

In addition the logs contain either the wide baseline stereo (XX%):

/wide_stereo [l+r]sensor_msgs/ImageWillow Garage Stereo30Hz
/wide_stereo info [l+r]sensor_msgs/CameraInfon/a30Hz

Or an RGB-D sensor - the Microsoft Kinect (XX%):

/camera [rgb+depth]sensor_msgs/ImageMicrosoft Kinect30Hz
/camera info [rgb+depth]sensor_msgs/CameraInfon/a30Hz

Occasionally we also log (at about 1Hz), the high definition ProSilica monocular camera [MF: add more detail]:

Other measurements logged are as follows:

PR2 Message ChannelROS Message TypeSensorFreq
/base_odometry/odometerpr2_mechanism_controllers/OdometerXXXX1Hz
XXXpr2_mechanism_controllers/BaseOdometryStateXXXXalmost none
/torso_lift_imu/is_calibratedstd_msgs/BoolXXXXoccasionally

Versions Provided

For each experimental run we provide the following derivative versions:

For an initial 17 runs we also provide:

The images are organised to be listed in the path as follows:

In addition we also provide Ground Truth poses of the laser and stereo camera (left lense) for each frame of these 17 runs.

File Listing

Log FileDetailsSize (GB)Time (mins)Dist (m)CameraFloors VisitedGround
Truth
2011-01-18-06-37-58.bagdetails12586rectified stereo2 (confirm)
2011-01-19-07-49-38.bagdetails5568rectified stereo2 (confirm)
2011-01-20-07-18-45.bagdetails5476rectified stereo2 (confirm)
2011-01-20-09-13-31.bagdetails220rectified stereo2 (confirm)
2011-01-21-09-01-36.bagdetails5587rectified stereo2 (confirm)
2011-01-24-06-18-27.bagdetails1587throttled stereo2 (confirm)
2011-01-25-06-29-26.bagdetails15109throttled stereo2 (confirm)
2011-01-26-06-56-04.bagdetails88194rectified stereo2, 3 (confirm)
2011-01-27-07-40-55.bagdetails1010222rectified stereo2, 3 (confirm)
2011-01-27-07-49-54.bagdetails4494rectified stereo2 (confirm)
2011-01-28-06-37-23.bagdetails99145rectified stereo3 (confirm)
2011-03-11-06-48-23.bagdetails1212245rectified stereo2 (confirm)
2011-03-16-06-19-11.bagdetails2019320rectified stereo9 (confirm)
2011-03-18-06-00-24.bagdetails1717331rectified stereo9 (confirm)
2011-03-18-06-22-35.bagdetails19780rectified stereo2 (confirm)
2011-03-28-08-38-59.bagdetails332712raw stereo
2011-04-06-06-38-27.bagdetails5581raw stereo2 (confirm)
2011-04-06-06-56-58.bagdetails3694throttled stereo2 (confirm)
2011-04-06-07-04-17.bagdetails1695throttled stereo2 (confirm)
2011-04-11-07-34-27.bagdetails221371none4
2011-04-15-06-16-49.bagdetails221421none4
2011-04-22-06-22-12.bagdetails221435none5
2011-04-22-06-52-29.bagdetails225484none6
2011-04-29-06-16-08.bagdetails227477none8
2011-05-03-12-44-26.bagdetails329578none4, 7 (confirm)
2011-08-08-10-57-25.bagdetails3353674none2 (confirm)
2011-08-08-12-50-29.bagdetails762rectified stereo
2011-08-08-13-27-13.bagdetails120none
2011-08-08-14-18-37.bagdetails222rectified stereo
2011-08-08-14-25-05.bagdetails4943645rectified stereo2 (confirm)
2011-08-09-11-17-42.bagdetails5441963rectified stereo2, 3 (confirm)
2011-08-09-12-22-52.bagdetails4131341rectified stereo2 (confirm)
2011-08-11-10-58-27.bagdetails6158255rectified stereo
2011-08-12-10-14-06.bagdetails4434956unknown1, 2 (confirm)
2011-10-11-12-42-48.bagdetails4745941raw stereomultifloor (confirm)
2011-10-20-11-38-39.bagdetails1515264raw stereo2 (confirm)
2011-10-20-11-55-00.bagdetails3533611raw stereo
2011-11-07-05-50-07.bagdetails2928546raw stereo
2011-11-18-07-26-39.bagdetails62591189raw stereo
2012-01-18-09-09-07.bagdetails3736683raw stereo2Parts 1
2012-01-20-07-55-23.bagdetails4139910raw stereo2 (confirm)
2012-01-22-11-24-30.bagdetails3735639raw stereo2 (confirm)
2012-01-22-12-00-30.bagdetails3735730raw stereo2 (confirm)
2012-01-25-12-14-25.bagdetails5020348raw stereo and kinect2Parts 1
2012-01-25-12-33-29.bagdetails3714239raw stereo and kinect2Parts 1
2012-01-26-05-00-52.bagdetails3836780raw stereo
2012-01-26-05-36-42.bagdetails4441779raw stereo
2012-01-27-07-37-01.bagdetails856raw stereo2, 3, 2Parts 1, 3
2012-01-28-11-12-01.bagdetails3836635raw stereo2Parts 1
2012-01-28-12-38-24.bagdetails3331606raw stereo2, 3, 1, 2Parts 1, 4
2012-02-02-10-44-08.bagdetails57521003raw stereo2Parts 1
2012-02-05-11-06-48.bagdetails397none2
2012-04-02-10-54-41.bagdetails2658606raw stereo2Parts 1
2012-04-03-07-28-17.bagdetails4785kinect/openni2, 4, 2Parts 1, 3
2012-04-03-07-56-24.bagdetails4453kinect/openni2, 5, 4, 2Parts 1, 4
2012-04-04-07-15-50.bagdetails4353kinect/openni2, 6, 2Parts 1, 3
2012-04-04-07-41-00.bagdetails5451 kinect/openni2, 3, 2Parts 1, 3
2012-04-06-11-15-29.bagdetails1919 kinect/openni2Parts 1
2012-04-06-11-28-12.bagdetails3925 kinect/openni2Parts 1
2012-04-06-11-52-49.bagdetails6119 kinect/openni2, 7G, 8G, 2Parts 1, 4
2012-04-10-13-26-13.bagdetails5837 kinect/openni2, 6, 7, 6, 2
2012-04-10-14-03-27.bagdetails3724 kinect/openni2, 9G, 2
2012-04-12-06-15-37.bagdetails7040 kinect/openni2, 5D, 9D, 5D, 2
2012-04-12-06-59-57.bagdetails5032 kinect/openni2, 1, 2
2012-04-14-07-18-50.bagdetails6239 kinect/openni2, 4
2012-04-24-04-03-07.bagdetails4830 kinect/openni4, 1East, 4
2012-04-24-04-32-51.bagdetails5937 kinect/openni4, 1West, 4
2012-04-26-06-12-32.bagdetails5132 kinect/openni4, 0, 4
2012-04-26-06-48-00.bagdetails3125 kinect/openni4, 0, 4
2012-05-01-12-12-25.bagdetails4035raw stereo4, 2, 4Parts 2
2012-05-01-12-47-38.bagdetails3531raw stereo4
2012-05-02-06-23-02.bagdetails3935raw stereo4, 2, 4Parts 2
2012-05-02-06-56-46.bagdetails3027raw stereo4
2012-05-03-13-01-04.bagdetails3733raw stereo4, 3, 12, 3, 4
2012-05-03-13-33-14.bagdetails2522raw stereo4, 3, 4
2012-05-04-10-16-31.bagdetails3027raw stereo4, 5, 4
2012-05-04-10-45-03.bagdetails3027raw stereo4, 5, 4
2012-05-14-12-42-56.bagdetails3934raw stereo4, 6, 7G, 4
2012-05-14-13-16-53.bagdetails3228raw stereo4, 8G, 9G, 4
2012-05-15-04-12-31.bagdetails3228raw stereo4, 1, 4
2012-05-15-04-40-23.bagdetails3632raw stereo4, 1, 4
2012-05-23-13-29-11.bagdetails3734raw stereo6, 7D (confirm)
2012-05-23-14-04-34.bagdetails3834raw stereo8, 9D (confirm)
2012-09-10-06-08-26.bagdetails6325raw stereo

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: