Data Set usc-sal200-021120

These files contain the raw sensor data acquired by a robot during two separate tours of the second floor of the USC SAL building. 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 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:

• 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]

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.