Skip to content

Commit

Permalink
update rosbag link
Browse files Browse the repository at this point in the history
  • Loading branch information
@maskjptamu
maskjptamu committed Mar 5, 2021
1 parent b5fa1fd commit 80232e8
Showing 1 changed file with 21 additions and 8 deletions.
29 changes: 21 additions & 8 deletions README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -149,21 +149,33 @@ Topic Name | Message Tpye | Message Descriptison
/imu/data | sensor_msgs/Imu | Filtered imu data from embeded imu of Warthog
/imu/data_raw | sensor_msgs/Imu | Raw imu data from embeded imu of Warthog
/imu/mag | sensor_msgs/MagneticField | Raw magnetic field data from embeded imu of Warthog
/nerian_stereo/left_image | sensor_msgs/Image | Left image from Nerian Karmin2
/nerian_stereo/right_image | sensor_msgs/Image | Right image from Nerian Karmin2
/left_drive/status/battery_current | std_msgs/Float64 |
/left_drive/status/battery_voltage | std_msgs/Float64 |
/mcu/status | warthog_msgs/Status |
/nerian/left/camera_info | sensor_msgs/CameraInfo |
/nerian/left/image_raw | sensor_msgs/Image | Left image from Nerian Karmin2
/nerian/right/camera_info | sensor_msgs/CameraInfo |
/nerian/right/image_raw | sensor_msgs/Image | Right image from Nerian Karmin2
/odometry/filtered | nav_msgs/Odometry | A filtered local-ization estimate based on wheel odometry (en-coders) and integrated IMU from Warthog
/os1_cloud_node/imu | sensor_msgs/Imu | Raw imu data from embeded imu of Ouster Lidar
/os1_cloud_node/points | sensor_msgs/PointCloud2 | Point cloud data from Ouster Lidar
/os1_node/imu_packets | ouster_ros/PacketMsg | Raw imu data from Ouster Lidar
/os1_node/lidar_packets | ouster_ros/PacketMsg | Raw lidar data from Ouster Lidar
/pylon_camera_node/camera_info | sensor_msgs/CameraInfo |
/pylon_camera_node/image_raw | sensor_msgs/Image |
/right_drive/status/battery_current | std_msgs/Float64 |
/right_drive/status/battery_voltage | std_msgs/Float64 |
/tf | tf2_msgs/TFMessage |
/tf_static | tf2_msgs/TFMessage
/vectornav/GPS | sensor_msgs/NavSatFix | INS data from VectorNav-VN300
/vectornav/IMU | sensor_msgs/Imu | Imu data from VectorNav-VN300
/vectornav/Mag | sensor_msgs/MagneticField | Raw magnetic field data from VectorNav-VN300
/vectornav/Odom | nav_msgs/Odometry | Odometry from VectorNav-VN300
/vectornav/Pres | sensor_msgs/FluidPressure |
/vectornav/Temp | sensor_msgs/Temperature |
/velodyne_points | sensor_msgs/PointCloud2 | PointCloud produced by the Velodyne Lidar

/warthog_velocity_controller/cmd_vel | geometry_msgs/Twist |
/warthog_velocity_controller/odom | nav_msgs/Odometry |
### ROS Bag Download

**On 02/25/2021 (commit [7c156e1](https://github.com/unmannedlab/RELLIS-3D/commit/3da6c2a4c78b0b70068e73d596c4dc956be17f06)), we updated the lidar to camera calibration parameter. The tf in rosbags haven't been updated. We are working on it.**
Expand All @@ -173,24 +185,24 @@ The following are the links for the ROS Bag files.
* Full-stack Merged data:(60 seconds example [4.2 GB](https://drive.google.com/file/d/1qSeOoY6xbQGjcrZycgPM8Ty37eKDjpJL/view?usp=sharing)): includes all data in above table and extrinsic calibration info data embedded in the tf tree.
* Full-stack Split Raw data:(60 seconds example [4.3 GB](https://drive.google.com/file/d/1-TDpelP4wKTWUDTIn0dNuZIT3JkBoZ_R/view?usp=sharing)): is orignal data recorded by ```rosbag record``` command.

**Sequence 00000**: Synced data: ([12GB](https://drive.google.com/file/d/10dHPMCschg1dMeb_Y6pcPvC-HZQZ8_ek/view?usp=sharing)) Full-stack Merged data: ([23GB](https://drive.google.com/file/d/1d-t4P1idWkfxDEkodBrsbd4B2nAc8rZ3/view?usp=sharing)) Full-stack Split Raw data: ([29GB](https://drive.google.com/drive/folders/1IZ-Tn_kzkp82mNbOL_4sNAniunD7tsYU?usp=sharing))
**Sequence 00000**: Synced data: ([12GB](https://drive.google.com/file/d/1bIb-6fWbaiI9Q8Pq9paANQwXWn7GJDtl/view?usp=sharing)) Full-stack Merged data: ([23GB](https://drive.google.com/file/d/1grcYRvtAijiA0Kzu-AV_9K4k2C1Kc3Tn/view?usp=sharing)) Full-stack Split Raw data: ([29GB](https://drive.google.com/drive/folders/1IZ-Tn_kzkp82mNbOL_4sNAniunD7tsYU?usp=sharing))

[![Sequence 00000 Video](https://img.youtube.com/vi/Qc7IepWGKr8/0.jpg)](https://www.youtube.com/watch?v=Qc7IepWGKr8)

**Sequence 00001**: Synced data: ([8GB](https://drive.google.com/file/d/1I98lEog0xFFAVVZ_AEBvXzIEcFQ2bGRl/view?usp=sharing)) Full-stack Merged data: ([16GB](https://drive.google.com/file/d/1LogHRN1ElE2xryILMPU3OtnV6VCnjs52/view?usp=sharing)) Full-stack Split Raw data: ([22GB](https://drive.google.com/drive/folders/1hf-vF5zyTKcCLqIiddIGdemzKT742T1t?usp=sharing))
**Sequence 00001**: Synced data: ([8GB](https://drive.google.com/file/d/1xNjAFE3cv6X8n046irm8Bo5QMerNbwP1/view?usp=sharing)) Full-stack Merged data: ([16GB](https://drive.google.com/file/d/1geoU45pPavnabQ0arm4ILeHSsG3cU6ti/view?usp=sharing)) Full-stack Split Raw data: ([22GB](https://drive.google.com/drive/folders/1hf-vF5zyTKcCLqIiddIGdemzKT742T1t?usp=sharing))

[![Sequence 00001 Video](https://img.youtube.com/vi/nO5JADjDWQ0/0.jpg)](https://www.youtube.com/watch?v=nO5JADjDWQ0)

**Sequence 00002**: Synced data: ([14GB](https://drive.google.com/file/d/1yhohyWOIIf00YLUZ1RT7ouq3B-iaOU91/view?usp=sharing)) Full-stack Merged data: ([28GB](https://drive.google.com/file/d/1F_8yviLHcAVmBpWEyCITFd1nRgPRmkVX/view?usp=sharing)) Full-stack Split Raw data: ([37GB](https://drive.google.com/drive/folders/1R8jP5Qo7Z6uKPoG9XUvFCStwJu6rtliu?usp=sharing))
**Sequence 00002**: Synced data: ([14GB](https://drive.google.com/file/d/1gy0ehP9Buj-VkpfvU9Qwyz1euqXXQ_mj/view?usp=sharing)) Full-stack Merged data: ([28GB](https://drive.google.com/file/d/1h0CVg62jTXiJ91LnR6md-WrUBDxT543n/view?usp=sharing)) Full-stack Split Raw data: ([37GB](https://drive.google.com/drive/folders/1R8jP5Qo7Z6uKPoG9XUvFCStwJu6rtliu?usp=sharing))

[![Sequence 00002 Video](https://img.youtube.com/vi/aXaOmzjHmNE/0.jpg)](https://www.youtube.com/watch?v=aXaOmzjHmNE)

**Sequence 00003**:Synced data: ([8GB](https://drive.google.com/file/d/1poY5eaKKhmjUQpF1rsoL4mm4wO7T8CJM/view?usp=sharing)) Full-stack Merged data: ([15GB](https://drive.google.com/file/d/1HDbtqaYhfeyLoq9UsxOhgCJl2urGVKUc/view?usp=sharing)) Full-stack Split Raw data: ([19GB](https://drive.google.com/drive/folders/1iP0k6dbmPdAH9kkxs6ugi6-JbrkGhm5o?usp=sharing))
**Sequence 00003**:Synced data: ([8GB](https://drive.google.com/file/d/1vCeZusijzyn1ZrZbg4JaHKYSc2th7GEt/view?usp=sharing)) Full-stack Merged data: ([15GB](https://drive.google.com/file/d/1glJzgnTYLIB_ar3CgHpc_MBp5AafQpy9/view?usp=sharing)) Full-stack Split Raw data: ([19GB](https://drive.google.com/drive/folders/1iP0k6dbmPdAH9kkxs6ugi6-JbrkGhm5o?usp=sharing))


[![Sequence 00003 Video](https://img.youtube.com/vi/Kjo3tGDSbtU/0.jpg)](https://www.youtube.com/watch?v=Kjo3tGDSbtU)

**Sequence 00004**:Synced data: ([7GB](https://drive.google.com/file/d/1xLvai6rorpjxRZXraZK7qPsA1vYMkTHJ/view?usp=sharing)) Full-stack Merged data: ([14GB](https://drive.google.com/file/d/1usxAjxHrw89R6rMA0GtmYQRtzIP-QGJF/view?usp=sharing)) Full-stack Split Raw data: ([17GB](https://drive.google.com/drive/folders/1WV9pecF2beESyM7N29W-nhi-JaoKvEqc?usp=sharing))
**Sequence 00004**:Synced data: ([7GB](https://drive.google.com/file/d/1gxODhAd8CBM5AGvsoyuqN7yGpWazzmVy/view?usp=sharing)) Full-stack Merged data: ([14GB](https://drive.google.com/file/d/1AuEjX0do3jGZhGKPszSEUNoj85YswNya/view?usp=sharing)) Full-stack Split Raw data: ([17GB](https://drive.google.com/drive/folders/1WV9pecF2beESyM7N29W-nhi-JaoKvEqc?usp=sharing))


[![Sequence 00004 Video](https://img.youtube.com/vi/lLLYTI4TCD4/0.jpg)](https://www.youtube.com/watch?v=lLLYTI4TCD4)
Expand Down Expand Up @@ -227,6 +239,7 @@ All datasets and code on this page are copyright by us and published under the C
## Updates
* 11/26/2020 v1.0 release
* 02/25/2021 improve camera and lidar calibration parameter
* 03/04/2021 update ROS bag with new tf (v1.1 release)

## Related Work

Expand Down

0 comments on commit 80232e8

Please sign in to comment.