2023-06-16-11-33-01_smb263.bag --------------------------- one loop around collapsed building next to barrack. +- same pose at start and end topics: /control/smb_diff_drive/odom 5407 msgs : nav_msgs/Odometry /control/smb_lowlevel_controller/wheelSpeeds 1639 msgs : std_msgs/Float64MultiArray /imu 22068 msgs : sensor_msgs/Imu /rslidar/points 1082 msgs : sensor_msgs/PointCloud2 /tf 11915 msgs : tf2_msgs/TFMessage (2 connections) /tf_static 2 msgs : tf2_msgs/TFMessage (2 connections) /tracking_camera/odom/sample 21597 msgs : nav_msgs/Odometry 2023-06-16-11-39-50_smb263.bag --------------------------- one loop around building in challenge site +- same pose at start and end (slightly different yaw) no tracking cam odom in tf! topics: /control/smb_diff_drive/odom 5478 msgs : nav_msgs/Odometry /control/smb_lowlevel_controller/wheelSpeeds 1661 msgs : std_msgs/Float64MultiArray /imu 22365 msgs : sensor_msgs/Imu /rslidar/points 1096 msgs : sensor_msgs/PointCloud2 /tf 3484 msgs : tf2_msgs/TFMessage /tf_static 1 msg : tf2_msgs/TFMessage /tracking_camera/odom/sample 21892 msgs : nav_msgs/Odometry 2023-06-16-11-45-45_smb263.bag --------------------------- big round in challenge site for mapping same pose at start and end no tracking cam odom in tf! gives nice map with open3d_slam topics: /control/smb_diff_drive/odom 10229 msgs : nav_msgs/Odometry /control/smb_lowlevel_controller/wheelSpeeds 3100 msgs : std_msgs/Float64MultiArray /imu 41737 msgs : sensor_msgs/Imu /rslidar/points 2047 msgs : sensor_msgs/PointCloud2 /tf 6543 msgs : tf2_msgs/TFMessage /tf_static 1 msg : tf2_msgs/TFMessage /tracking_camera/odom/sample 40864 msgs : nav_msgs/Odometry 2023-06-16-11-52-40_smb263.bag --------------------------- round around challenge site, on road only same pose at start and end no tracking cam odom in tf! topics: /control/smb_diff_drive/odom 6358 msgs : nav_msgs/Odometry /control/smb_lowlevel_controller/wheelSpeeds 1928 msgs : std_msgs/Float64MultiArray /imu 25959 msgs : sensor_msgs/Imu /rslidar/points 1273 msgs : sensor_msgs/PointCloud2 /tf 4060 msgs : tf2_msgs/TFMessage /tf_static 1 msg : tf2_msgs/TFMessage /tracking_camera/odom/sample 25409 msgs : nav_msgs/Odometry 2023-06-16-13-54-02_smb264.bag ------------------------------ indoor environment (for exploration) topics: /imu 46005 msgs : sensor_msgs/Imu /rslidar/points 2256 msgs : sensor_msgs/PointCloud2 /tf 16129 msgs : tf2_msgs/TFMessage (2 connections) /tf_static 3 msgs : tf2_msgs/TFMessage (3 connections) /tracking_camera/odom/sample 45008 msgs : nav_msgs/Odometry 2023-06-16-16-32-34_smb263.bag ------------------------------ rosbag for objection detection: one round around collapsed building while passing by and going towards different objects (backpack, person, stop sign, clock) corresponding map: collapsed_building.pcd no localization included: - potentially Odometry from /tracking_camera/odom/sample could be used - or open3d_slam run while playing back the bag file topics: /imu 28802 msgs : sensor_msgs/Imu /rgb_camera/camera_info 564 msgs : sensor_msgs/CameraInfo /rgb_camera/image_raw 564 msgs : sensor_msgs/Image /rslidar/points 1409 msgs : sensor_msgs/PointCloud2 /tf 4496 msgs : tf2_msgs/TFMessage /tf_static 1 msg : tf2_msgs/TFMessage /tracking_camera/odom/sample 28140 msgs : nav_msgs/Odometry 2023-06-16-16-37-44_smb263.bag ------------------------------ rosbag for objection detection: one round around collapsed building while passing by and going towards different objects (backpack, person, stop sign, clock) corresponding map: collapsed_building.pcd tf tree includes localization (frame map_o3d from online slam ) topics: /imu 28802 msgs : sensor_msgs/Imu /rgb_camera/camera_info 564 msgs : sensor_msgs/CameraInfo /rgb_camera/image_raw 564 msgs : sensor_msgs/Image /rslidar/points 1409 msgs : sensor_msgs/PointCloud2 /tf 4496 msgs : tf2_msgs/TFMessage /tf_static 1 msg : tf2_msgs/TFMessage /tracking_camera/odom/sample 28140 msgs : nav_msgs/Odometry 2023-06-16-16-48-14_smb264.bag ------------------------------ indoor environment topics: /imu 26366 msgs : sensor_msgs/Imu /rslidar/points 1291 msgs : sensor_msgs/PointCloud2 /tf 14191 msgs : tf2_msgs/TFMessage (2 connections) /tf_static 2 msgs : tf2_msgs/TFMessage (2 connections) /tracking_camera/odom/sample 25760 msgs : nav_msgs/Odometry 2023-06-29-12-15-02_smb264.bag ------------------------------ rosbag for state estimation testing starting on an incline topics: /control/smb_diff_drive/odom 2723 msgs : nav_msgs/Odometry /control/smb_lowlevel_controller/wheelSpeeds 553 msgs : std_msgs/Float64MultiArray /imu 10725 msgs : sensor_msgs/Imu /rslidar/points 545 msgs : sensor_msgs/PointCloud2 /tf 5993 msgs : tf2_msgs/TFMessage (2 connections) /tf_static 2 msgs : tf2_msgs/TFMessage (2 connections) /tracking_camera/odom/sample 10863 msgs : nav_msgs/Odometry 2023-06-29-12-18-15_smb264.bag ------------------------------ rosbag for state estimation testing starting on an incline topics: /control/smb_diff_drive/odom 2723 msgs : nav_msgs/Odometry /control/smb_lowlevel_controller/wheelSpeeds 553 msgs : std_msgs/Float64MultiArray /imu 10725 msgs : sensor_msgs/Imu /rslidar/points 545 msgs : sensor_msgs/PointCloud2 /tf 5993 msgs : tf2_msgs/TFMessage (2 connections) /tf_static 2 msgs : tf2_msgs/TFMessage (2 connections) /tracking_camera/odom/sample 10863 msgs : nav_msgs/Odometry