Home
View
Submit
FAQ
Contributors
Mailing lists
SourceForge.net Logo
Player/Stage
CARMEN
OpenSLAM

Data Set sdr_site_b

Data set Submitted by File totals
Name: sdr_site_b
Desc: The SDR site B.
Andrew Howard
ahoward@usc.edu
1 files; 28 Mb

Detailed Description

These files contain the raw sensor data acquired by a single robot during a tour of the SDR site B. 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 chronological order.

Files
sdr-wd-02-00-ant.log.gz27Mb