Data Format
- 1 minData Format
The following table presents the information included in the ROS bags, along with their corresponding message types and frequencies. We aim to provide concise and comprehensive topics. For RTK data, the ROS bags record measurement positions, connection status, and GPS satellite conditions in the NavSatFix format. LiDAR data is provided in the widely used PointCloud2 format to enhance usability. IMU data includes acceleration, angular velocity, and magnetometer readings. To preserve image quality, image data remains uncompressed, and the original image topic is provided as sensor_msgs/Image. All ROS drivers for LiDAR, IMU, and cameras utilize manufacturer-released ROS drivers, while the RTK topic conversion script is open-sourced alongside our dataset.
| Type | Topic Name | Message Type | Rate (Hz) |
|---|---|---|---|
| RTK | /RTK/data | sensor_msgs/NavSatFix | 5 |
| LiDAR | /velodyne_points | sensor_msgs/PointCloud2 | 10 |
| IMU | /imu/data | sensor_msgs/Imu | 200 |
| /imu/mag | sensor_msgs/MagneticField | 100 | |
| Camera | /camera/color | sensor_msgs/Image | 10 |
| /camera/depth | sensor_msgs/Image | 10 |