Dataset Open Access

Robot navigation measurements driving in and out of the van

Relvas, Pedro; Ferreira, Francisco; Sobreira, Héber; Costa, Carlos; Rocha, Luís; Veiga, Germano

This dataset is a rosbag which contains the laser scans and the pose of a Husky mobile robot, using the robot's odometry and two SICK S300 laser scans to navigate.

List of available topics:

  1. /colrobot/hardware/scan_pointcloud
  2. /colrobot/navigation/perfect_match/debug/LaserScanfiltered
  3. /colrobot/navigation/perfect_match/LocalisationPoseResult
  4. /colrobot/navigation/map
  5. /tf
  6. /tf_static

Topics contents:

  1. Pointcloud containing the merge of the two laser scans 
  2. Pointcloud containing the laser scans which matched with the given map
  3. Robot's pose estimate
  4. Map of the van (robot's working area)
  5. 6. Transforms of the system

Files (391.2 MB)
Name Size
391.2 MB Download
All versions This version
Views 164164
Downloads 1515
Data volume 5.9 GB5.9 GB
Unique views 146146
Unique downloads 1414


Cite as