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Data Set csc_mezzanine

Data set Submitted by File totals
Name: csc_mezzanine
Desc: California Science Center, mezzanine level
Andrew Howard
ahoward@usc.edu
01 Jul 2003
1 files; 3 Mb

Detailed Description

This file contains the raw sensor data acquired by a single robot during a tour of the mezzanine level of the California Science Center. The robot was equipped as follows:

  • Pioneer2DX (odometry)
  • Sick LMS 200 (laser range finder); mounted 8cm forward from the center of the robot, facing forwards.
The robot was teleoperated by a human operator.

File Format Description

The files are gzip\'ed text files. Each line records the measurements made by a particular sensor at a particular point in time. Fields within lines are space delimited, and have the following format:

  • Client timestamp (the time at which the logging program got the data).
  • Robot IP address.
  • Robot port.
  • Sensor type (\"position\" or \"laser\")
  • Sensor index (0 for this data set)
  • Data timestamp (time at which the phenomena occurred; Unix time).
  • Sensor data (specific for each sensor type):
    • Position: pose_x pose_y pose_theta vel_x vel_y vel_theta
    • Laser: range bearing intensity range bearing intensity...[repeats]
All units are SI (meters, radians, seconds, etc).

Notes:

  • The order of the lines in the file reflects the order in which data was recieved from the robot, as a result, the data timestamps may not be in chronolo gical order.

Files
csc-00-bug.log.gz2Mb