VRI4WD UFPR-MAP DATASET
This work contributed to creating a dataset with coordinates of points obtained by geodetic and topographic methods for using this data to validate the positioning obtained through autonomous wheeled mobile robots.
| Path | File | Date |
|---|---|---|
| Indoor A to B | pathAB_vri4wd_ufpr-map_2025-03-20-18-07-27.bag | Mar. 20, 2025 |
| Outdoor B to C | pathBC_vri4wd_ufpr-map_2025-03-07-16-14-33.bag | Mar. 07, 2025 |
| Outdoor C to D | pathCD_vri4wd_ufpr-map_2025-03-07-16-20-18.bag | Mar. 07, 2025 |
| Outdoor D to E | pathDE_vri4wd_ufpr-map_2025-03-07-16-31-38.bag | Mar. 07, 2025 |
| Outdoor E to B | pathEB_vri4wd_ufpr-map_2025-03-07-17-18-43.bag | Mar. 07, 2025 |
| Indoor B to F | pathBF_vri4wd_ufpr-map_2025-03-20-17-57-04.bag | Mar. 20, 2025 |
*RSSI data is unavailable for indoor measurements.
| Path | File | Date |
|---|---|---|
| Indoor A to B | dataset_vri4wd_ufpr-map_20230830s001ab.bag | Aug. 30, 2023 |
| Outdoor B to C | dataset_vri4wd_ufpr-map_20230830s001bc.bag | Aug. 30, 2023 |
| Outdoor C to D | dataset_vri4wd_ufpr-map_20230830s001cd.bag | Aug. 30, 2023 |
| Outdoor D to E | dataset_vri4wd_ufpr-map_20230901s001de.bag | Sept. 1, 2023 |
| Outdoor E to B | dataset_vri4wd_ufpr-map_20230901s001eb.bag | Sept. 1, 2023 |
| Indoor B to F | dataset_vri4wd_ufpr-map_20230901s001bf.bag | Sept. 1, 2023 |
*encoder pulses with count discontinuities.
| Name | Topic Type | Topic Name |
|---|---|---|
| Encoder | publisher : std_msgs/Int16 | /left_encoder, /right_encoder |
| Accelerometer (IMU) | publisher : sensor_msgs/Imu | /imu/data |
| Digital Compass (IMU) | publisher : sensor_msgs/Imu | /imu/data |
| GPS | publisher : sensor_msgs/NavSatFix | /gps_neo8m |
| Gyroscope (IMU) | publisher : sensor_msgs/Imu | /imu/data |
| Infrared | publisher : sensor_msgs/Range | /ir1_sharp, /ir2_sharp, /ir3_sharp |
| Ultrasound | publisher : sensor_msgs/Range | /us1_urm, /us3_urm, /us5_urm |
| Vision | publisher : sensor_msgs/Image | /camera/depth/image, /camera/rgb/image_color, /camera/rgb/image_mono OR /camera_depth, /camera_rgb |
| Laser Scanner | publisher | /scan |
| RF Sensor (WLAN) | publisher : std_msgs/Int8 | /rssi1_wlan, /rssi2_wlan, /rssi3_wlan, /rssi4_wlan, /rssi5_wlan, /rssi6_wlan, /rssi7_wlan, /rssi8_wlan, /rssi9_wlan, /rssi10_wlan, /rssi11_wlan, /rssi12_wlan, /rssi13_wlan, /rssi14_wlan, /rssi15_wlan, /rssi16_wlan, /rssi17_wlan, /rssi18_wlan, /rssi19_wlan |
| Name | Topic Type | Topic Name |
|---|---|---|
| Latitude and Longitude Points | publisher : geometry_msgs/Point | /landmark_vri4wd_latlon |
| UFPR-MAP Points | publisher : std_msgs/Int8 | /point_ufprmap |
| Name | Topic Type | Topic Name |
|---|---|---|
| Velocity Commands To a Robot | subscriber : geometry_msgs/Twist | /cmd_vel |
ROSbag is a set of tools for recording from and playing back to ROS topics.
rosbag play dataset_vri4wd_ufpr-map_20230830s001ab.bag pip3 install rosbags>=0.9.11
rosbags-convert --src pathAB_vri4wd_ufpr-map_2025-03-20-18-07-27.bag --dst pathAB --dst-version 5The VRI4WD mobile robot was developed to apply multi-sensors and locomotion in indoor and outdoor environments.