ROS 2 Bags acquired from AgRob Modular-e during the IV SCORPION Integration (Aymavilles, Italy)

ROS 2 Bags acquired with the AgRob Modular-e robot during the IV SCORPION Integration in Cave des Onze Communes vineyard (Aymavilles, Italy), between 13 and 15 June 2023.

Main topics available include:
- Robot odometry (/odom) [nav_msgs/msg/Odometry]
- Redshift UM7 IMU data (/eut_sensors/imu/data) [sensor_msgs/msg/Imu]
- RS-LIDAR 3D scans (/rslidar_points) [sensor_msgs/msg/PointCloud2]
- Livox MID-70 scans in proprietary format (/livox/lidar) [livox_ros_driver/msg/CustomMsg]
- U-Blox ZED-F9P base receiver GNSS coordinates (/base/fix) [sensor_msgs/msg/NavSatFix]
- U-Blox ZED-F9P heading data from base-rover moving baseline setup (/rover/navheading) [sensor_msgs/msg/Imu]

Datasets description:

2023-06-13T161127Z - Robot navigating across two crop rows, closing a loop, with RS-LIDAR, Livox MID-70 and IMU data available.
2023-06-13T170852Z - Same as previous, but with GNSS data from SCORPION receiver (no data from U-Blox)
2023-06-13T175518Z - Robot navigating across three crop rows, forming an 8. No IMU or odometry data available.
2023-06-14T174658Z - Robot navigating along five crop rows with Livox data, base+rover GNSS, IMU and wheel odometry.
2023-06-15T110725Z - Robot navigating along four crop rows (forming loops), with RS-LIDAR data, base+rover GNSS, IMU and wheel odometry. Dataset interrupted in the middle of last row when returning to base.
2023-06-15T110725Z - Robot navigating along three crop rows (forming an 8), with RS-LIDAR data, base+rover GNSS, IMU and wheel odometry.

The measured transformations (estimated) between robot and sensor frames are found below (format: [x y z yaw pitch roll]). Please note these are not recorded with the datasets and must be included as static transforms using the tf2_ros package.

"base_footprint" to "imu_link": ["-0.05", "0", "0.759", "0", "0", "0"]
"imu_link" to "rslidar": ["0", "0", "-0.05464", "3.14159", "0", "0"]
"imu_link" to "livox_frame": ["0.0698", "0", "-0.14464", "0", "0", "0"]
"imu_link" to "gps_base": ["-0.025", "0", "0.27396", "3.14159", "0.0", "0"]
"gps_base" to "gps_rover": ["0.7", "0", "0", "0", "0", "0"]