ROS 2 Bags acquired from AgRob Modular-e during the IV SCORPION Integration (Aymavilles, Italy)

ROS 2 Bags acquired from AgRob Modular-e during the IV SCORPION Integration (Aymavilles, Italy)

ROS 2 Bags acquired with the AgRob Modular-e robot during the IV SCORPION Integration in Cave des Onze Communes vineyard (Aymavilles, Italy), between 13 and 15 June 2023.Main topics available include:- Robot odometry (/odom) [nav_msgs/msg/Odometry]- Redshift UM7 IMU data (/eut_sensors/imu/data) [sen...

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Hauptverfasser: Filipe Neves dos Santos, André Silva Aguiar, André Baltazar, Luís Santos, Daniel Sanchez de Pedro Rada, Adrian Cardenosa, Mateus Sanches Moura, Xavier Ruiz Vilda
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creator Filipe Neves dos Santos
André Silva Aguiar
André Baltazar
Luís Santos
Daniel Sanchez de Pedro Rada
Adrian Cardenosa
Mateus Sanches Moura
Xavier Ruiz Vilda
description ROS 2 Bags acquired with the AgRob Modular-e robot during the IV SCORPION Integration in Cave des Onze Communes vineyard (Aymavilles, Italy), between 13 and 15 June 2023.Main topics available include:- Robot odometry (/odom) [nav_msgs/msg/Odometry]- Redshift UM7 IMU data (/eut_sensors/imu/data) [sensor_msgs/msg/Imu]- RS-LIDAR 3D scans (/rslidar_points) [sensor_msgs/msg/PointCloud2]- Livox MID-70 scans in proprietary format (/livox/lidar) [livox_ros_driver/msg/CustomMsg]- U-Blox ZED-F9P base receiver GNSS coordinates (/base/fix) [sensor_msgs/msg/NavSatFix]- U-Blox ZED-F9P heading data from base-rover moving baseline setup (/rover/navheading) [sensor_msgs/msg/Imu]Datasets description:2023-06-13T161127Z - Robot navigating across two crop rows, closing a loop, with RS-LIDAR, Livox MID-70 and IMU data available.2023-06-13T170852Z - Same as previous, but with GNSS data from SCORPION receiver (no data from U-Blox)2023-06-13T175518Z - Robot navigating across three crop rows, forming an 8. No IMU or odometry data available.2023-06-14T174658Z - Robot navigating along five crop rows with Livox data, base+rover GNSS, IMU and wheel odometry.2023-06-15T110725Z - Robot navigating along four crop rows (forming loops), with RS-LIDAR data, base+rover GNSS, IMU and wheel odometry. Dataset interrupted in the middle of last row when returning to base.2023-06-15T110725Z - Robot navigating along three crop rows (forming an 8), with RS-LIDAR data, base+rover GNSS, IMU and wheel odometry.The measured transformations (estimated) between robot and sensor frames are found below (format: [x y z yaw pitch roll]). Please note these are not recorded with the datasets and must be included as static transforms using the tf2_ros package. "base_footprint" to "imu_link": ["-0.05", "0", "0.759", "0", "0", "0"]"imu_link" to "rslidar": ["0", "0", "-0.05464", "3.14159", "0", "0"]"imu_link" to "livox_frame": ["0.0698", "0", "-0.14464", "0", "0", "0"]"imu_link" to "gps_base": ["-0.025", "0", "0.27396", "3.14159", "0.0", "0"]"gps_base" to "gps_rover": ["0.7", "0", "0", "0", "0", "0"]
doi_str_mv 10.5281/zenodo.8083430
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No IMU or odometry data available.2023-06-14T174658Z - Robot navigating along five crop rows with Livox data, base+rover GNSS, IMU and wheel odometry.2023-06-15T110725Z - Robot navigating along four crop rows (forming loops), with RS-LIDAR data, base+rover GNSS, IMU and wheel odometry. Dataset interrupted in the middle of last row when returning to base.2023-06-15T110725Z - Robot navigating along three crop rows (forming an 8), with RS-LIDAR data, base+rover GNSS, IMU and wheel odometry.The measured transformations (estimated) between robot and sensor frames are found below (format: [x y z yaw pitch roll]). Please note these are not recorded with the datasets and must be included as static transforms using the tf2_ros package. "base_footprint" to "imu_link": ["-0.05", "0", "0.759", "0", "0", "0"]"imu_link" to "rslidar": ["0", "0", "-0.05464", "3.14159", "0", "0"]"imu_link" to "livox_frame": ["0.0698", "0", "-0.14464", "0", "0", "0"]"imu_link" to "gps_base": ["-0.025", "0", "0.27396", "3.14159", "0.0", "0"]"gps_base" to "gps_rover": ["0.7", "0", "0", "0", "0", "0"]</abstract><pub>Zenodo</pub><doi>10.5281/zenodo.8083430</doi><orcidid>https://orcid.org/0000-0001-6909-0209</orcidid><orcidid>https://orcid.org/0000-0002-8486-6113</orcidid><orcidid>https://orcid.org/0000-0002-0255-5005</orcidid><orcidid>https://orcid.org/0000-0003-4047-1395</orcidid><orcidid>https://orcid.org/0000-0001-7268-4876</orcidid><oa>free_for_read</oa></addata></record>
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title ROS 2 Bags acquired from AgRob Modular-e during the IV SCORPION Integration (Aymavilles, Italy)
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