From 80232e8c36a6a669b05fa8fde7f9baa87b343c49 Mon Sep 17 00:00:00 2001 From: maskjptamu Date: Thu, 4 Mar 2021 20:52:07 -0600 Subject: [PATCH] update rosbag link --- README.md | 29 +++++++++++++++++++++-------- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index bc217bf..f51d773 100644 --- a/README.md +++ b/README.md @@ -149,13 +149,24 @@ 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 @@ -163,7 +174,8 @@ Topic Name | Message Tpye | Message Descriptison /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.** @@ -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) @@ -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