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topic_lidar.md

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LiDAR dataset

Husky

drawing

  • LiDAR data (${robot_name}_lidar_*.bag)

    • LiDAR topics (sensor_msgs/PointCloud2)
      • ${robot_name}/velodyne/velodyne_points
        • frame_id: ${robot_name}/velodyne
      • ${robot_name}/velodyne_front/velodyne_points
        • frame_id: ${robot_name}/velodyne_front
      • ${robot_name}/velodyne_rear/velodyne_points
        • frame_id: ${robot_name}/velodyne_rear
    • LiDAR packet topics (velodyne_msgs/VelodyneScan)
      • ${robot_name}/velodyne_packets
        • frame_id: ${robot_name}/velodyne
      • ${robot_name}/velodyne_front/velodyne_packets
        • frame_id: ${robot_name}/velodyne_front
      • ${robot_name}/velodyne_rear/velodyne_packets
        • frame_id: ${robot_name}/velodyne_rear
    • topics that you should not care about:
      • ${robot_name}/velodyne_points_min_dist

  • IMU data (imu.bag)

    • ${robot_name}/vn100/imu
      • frame_id: ${robot_name}/vn100
    • ${robot_name}/vn100/imu_wori_wcov
      • frame_id: ${robot_name}/vn100

  • Odometry data (odometry.bag)

    • ${robot_name}hero/wio_ekf/odom (wheeled-inertial odometry done by )
      • frame_id: ${robot_name}/odom
    • ${robot_name}wheel_odom
      • frame_id: ${robot_name}/odom

Spot

drawing

  • LiDAR data (${robot_name}_lidar_*.bag)

    • LiDAR sensor_msgs/PointCloud2 topics
      • ${robot_name}/velodyne/velodyne_points
        • frame_id: ${robot_name}/velodyne
    • LiDAR packet topics (velodyne_msgs/VelodyneScan)
      • ${robot_name}/velodyne_packets
    • Spot Realsense Point Cloud (sensor_msgs/PointCloud2)
      • /${robot_name}/spot_driver/local_grid
    • topics that you should not care about:
      • ${robot_name}/velodyne_points_min_dist

  • IMU data (imu.bag) (Note: keep in mind that in B, E IMU is not available)

    • ${robot_name}/vn100/imu
      • frame_id: ${robot_name}/vn100
    • ${robot_name}/vn100/imu_wori_wcov
      • frame_id: ${robot_name}/vn100

  • Odometry data (odometry.bag)

    • ${robot_name}/kinematic_odom (sometimes called legged odometry)
      • frame_id: ${robot_name}/odom
    • ${robot_name}/visual_odom (output of Boston Dynamics visual odometry algorithm)
      • frame_id: ${robot_name}/odom