Datasets

Here, you can download the datasets. Each dataset consists of three folders:

rosbag - the bags consisting of the unprocessed ROS messages sent from the robots to the base-station.
- Each ${robot_name}*.bag Consist of two topics:
  - /husky1/lamp/keyed_scans of type pose_graph_msgs/KeyedScan which are the processed point clouds attached to each node of the pose-graph.
  - /husky1/lamp/pose_graph_incremental of type pose_graph_msgs/PoseGraph which are the incremental segments of the pose-graph.
g2o_pcd - the above ROS messages converted to g2o and pcd files.
ground_truth - the ground-truth artifacts which consist of:
- ${robot_name}*_odom.bag: the ground truth odometry
- result.g2o: the ground truth in g2o format.
- *.pcd: the ground truth point cloud of the environment.

LiDARs dataset

Name	Robots	Distance (m)	Link
Tunnel	Husky3 Husky4	2556	link
Urban	Husky1 Husky4 Spot1	1530	link
Finals Prelim2	Husky3 Spot1 Spot3 Spot4	1224	link
Kentucky Underground	Husky1 Husky2 Husky3 Husky4	6304	link