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.
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.
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.
Encoder | publisher /left_encoder, /right_encoder (std_msgs/Int16)
Accelerometer (IMU) | publisher /imu/data (sensor_msgs/Imu)
Digital Compass (IMU) | publisher /imu/data (sensor_msgs/Imu)
GPS | publisher /gps_neo8m (sensor_msgs/NavSatFix)
Gyroscope (IMU) | publisher /imu/data (sensor_msgs/Imu)
Infrared | publisher /ir1_sharp, /ir2_sharp, /ir3_sharp (sensor_msgs/Range)
Ultrasound | publisher /us1_urm, /us3_urm, /us5_urm (sensor_msgs/Range)
Vision | publisher /camera/depth/image, /camera/rgb/image_color, /camera/rgb/image_mono (sensor_msgs/Image) OR /camera_depth, /camera_rgb (sensor_msgs/Image)
Laser Scanner | publisher /scan (sensor_msgs/LaserScan)
RF Sensor (WLAN) | publisher /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 (std_msgs/Int8)
Latitude and Longitude Points | publisher /landmark_vri4wd_latlon (geometry_msgs/Point)
UFPR-MAP Points | publisher /point_ufprmap (std_msgs/Int8)
Velocity Commands To a Robot | subscriber /cmd_vel (geometry_msgs/Twist)
ROSbag is a set of tools for recording from and playing back to ROS topics.
$ rosbag play dataset_vri4wd_ufpr-map_20230830s001ab.bag
VRI4WD MOBILE ROBOT PLATFORM
The VRI4WD mobile robot was developed to apply multi-sensors and locomotion in indoor and outdoor environments.