zvision_ugv_data

This repo contains links of data collected by ugv, including pointcloud, image, rtk-gnss-ins data and tf.

Data Links

ROS2 Bags:

• BaiduNetdisk:
  Link：https://pan.baidu.com/s/1gtbB_IxbHYlYXaoJEeHMcA
  Access Code：u8as

Data Structure

LiDARs

topic	frame_id	type
/ns1/zvision_lidar_points	lidar_front	sensor_msgs/PointCloud2
/ns2/zvision_lidar_points	lidar_right	sensor_msgs/PointCloud2
/ns3/zvision_lidar_points	lidar_rear	sensor_msgs/PointCloud2
/ns4/zvision_lidar_points	lidar_left	sensor_msgs/PointCloud2

Cameras

topic	frame_id	type
/ns1/image_raw/compressed	camera_front	sensor_msgs/CompressedImage
/ns2/usb_cam/image_raw/compressed	camera_right	sensor_msgs/CompressedImage
/ns3/usb_cam/image_raw/compressed	camera_rear	sensor_msgs/CompressedImage
/ns4/usb_cam/image_raw/compressed	camera_left	sensor_msgs/CompressedImage

RTK-GNSS & INS

topics	frame_id	type
/navsat/fix		sensor_msgs/NavSatFix
/novatel/inspva	imu	imu_msgs/novatel_inspva(custom msg)
/novatel/pose_stamped	imu	geometry_msgs/PoseStamped
/novatel/raw	imu	sensor_msgs/Imu
/ns1/zvision_imu	zvision_imu(default)	sensor_msgs/Imu
/ns2/zvision_imu	zvision_imu	sensor_msgs/Imu
/ns3/zvision_imu	zvision_imu	sensor_msgs/Imu
/ns4/zvision_imu	zvision_imu	sensor_msgs/Imu

TF

tf_static: