DOI: 10.5281/zenodo.8199162
title: All sensors from AgRob Modular E recorded in Vineyard at Quinta do Seixo (Tabuaço - Portugal)

description: There are three bag files here recording all topics of the Robot AgRob Modular-E. The bags have no Image data, but they have 3D LIDAR and RTK GNSS. All the bags were recorded at Quinta do Seixo (Tabuaço, Portugal) in 3 distinct locations of the steep slope vineyard:<br> <br> rosbag2_2023_07_27-19_23_35 - Recorded in this area: 41.16631864403413, -7.555086219643922 rosbag2_2023_07_28-12_52_03 - Recorded in this area: 41.166966,-7.552726 rosbag2_2023_07_28-16_30_46 - Recorded in this area: 41.166814,-7.552784 Here are the topics off the rosbag files:<br> <br> Topic information: Topic: /rover/aidalm | Type: ublox_msgs/msg/AidALM<br> Topic: /rover/monhw | Type: ublox_msgs/msg/MonHW<br> Topic: /rover/navpvt | Type: ublox_msgs/msg/NavPVT<br> Topic: /rover/navheading | Type: sensor_msgs/msg/Imu<br> Topic: /rover/diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray<br> Topic: /rslidar_scan | Type: sensor_msgs/msg/LaserScan<br> Topic: /teleop/cmd_vel | Type: geometry_msgs/msg/Twist<br> Topic: /robot_electrical_data | Type: itrci_hardware/msg/RobotElectricalData<br> Topic: /mowit_scissors_motor_driver_node/duty_cycle_ref | Type: std_msgs/msg/Int32<br> Topic: /motors_outputs | Type: itrci_hardware/msg/MotorsArrayOutput<br> Topic: /rover/fix | Type: sensor_msgs/msg/NavSatFix<br> Topic: /localization_stars_link/gnss_heading | Type: visualization_msgs/msg/Marker<br> Topic: /imu/data_raw | Type: sensor_msgs/msg/Imu<br> Topic: /parametric_trajectories_editor_node/update | Type: visualization_msgs/msg/InteractiveMarkerUpdate<br> Topic: /rover/navrelposned | Type: ublox_msgs/msg/NavRELPOSNED9<br> Topic: /rover/navclock | Type: ublox_msgs/msg/NavCLOCK<br> Topic: /spraying/cmd_vel | Type: geometry_msgs/msg/Twist<br> Topic: /joy | Type: sensor_msgs/msg/Joy<br> Topic: /navigation_current_state | Type: std_msgs/msg/String<br> Topic: /base/navstatus | Type: ublox_msgs/msg/NavSTATUS<br> Topic: /tf | Type: tf2_msgs/msg/TFMessage<br> Topic: /parametric_trajectories_control_node/Point1 | Type: visualization_msgs/msg/Marker<br> Topic: /base/rxmrtcm | Type: ublox_msgs/msg/RxmRTCM<br> Topic: /path_it | Type: std_msgs/msg/Float64<br> Topic: /parametric_trajectories_control_node/Point2 | Type: visualization_msgs/msg/Marker<br> Topic: /base/monhw | Type: ublox_msgs/msg/MonHW<br> Topic: /motors_speed_ref | Type: itrci_hardware/msg/MotorsArrayInput<br> Topic: /base/navstate | Type: ublox_msgs/msg/NavSAT<br> Topic: /control_status | Type: itrci_nav/msg/ParametricTrajectoriesControlStatus<br> Topic: /sprayer_prescription | Type: std_msgs/msg/String<br> Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent<br> Topic: /PathWithEndOffset | Type: itrci_nav/msg/ParametricPathSetWithEndOffset<br> Topic: /followme_current_state | Type: std_msgs/msg/String<br> Topic: /base/navsvin | Type: ublox_msgs/msg/NavSVIN<br> Topic: /base/navrelposned | Type: ublox_msgs/msg/NavRELPOSNED9<br> Topic: /rosout | Type: rcl_interfaces/msg/Log<br> Topic: /base/aideph | Type: ublox_msgs/msg/AidEPH<br> Topic: /BackLaserScanObstacles | Type: sensor_msgs/msg/LaserScan<br> Topic: /path_num | Type: std_msgs/msg/Float64<br> Topic: /base/diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray<br> Topic: /rover/rxmrawx | Type: ublox_msgs/msg/RxmRAWX<br> Topic: /base/fix_velocity | Type: geometry_msgs/msg/TwistWithCovarianceStamped<br> Topic: /rover/rxmrtcm | Type: ublox_msgs/msg/RxmRTCM<br> Topic: /rover/fix_velocity | Type: geometry_msgs/msg/TwistWithCovarianceStamped<br> Topic: /base/navclock | Type: ublox_msgs/msg/NavCLOCK<br> Topic: /ControlPathData | Type: geometry_msgs/msg/PoseStamped<br> Topic: /base/navheading | Type: sensor_msgs/msg/Imu<br> Topic: /path_percent_done | Type: std_msgs/msg/Float64<br> Topic: /base/fix | Type: sensor_msgs/msg/NavSatFix<br> Topic: /TrajectoryControlCommand | Type: std_msgs/msg/String<br> Topic: /motion_current_state | Type: std_msgs/msg/String<br> Topic: /cmd_vel | Type: geometry_msgs/msg/Twist<br> Topic: /parametric_trajectories_control_node/Patch | Type: visualization_msgs/msg/MarkerArray<br> Topic: /position_error | Type: std_msgs/msg/Float64<br> Topic: /debug/TimeLoadNSec | Type: std_msgs/msg/Float64<br> Topic: /laser_security_area | Type: visualization_msgs/msg/Marker<br> Topic: /base/navpvt | Type: ublox_msgs/msg/NavPVT<br> Topic: /pose_goal | Type: geometry_msgs/msg/PoseStamped<br> Topic: /safety_current_state | Type: std_msgs/msg/String<br> Topic: /rover/navsvin | Type: ublox_msgs/msg/NavSVIN<br> Topic: /rover/navstatus | Type: ublox_msgs/msg/NavSTATUS<br> Topic: /Detections | Type: vision_msgs/msg/Detection2DArray<br> Topic: /ActualPath | Type: itrci_nav/msg/ParametricPathSet<br> Topic: /splines/cmd_vel | Type: geometry_msgs/msg/Twist<br> Topic: /orientation_error | Type: std_msgs/msg/Float64<br> Topic: /tf_static | Type: tf2_msgs/msg/TFMessage<br> Topic: /PathNoStackUp2 | Type: itrci_nav/msg/ParametricPathSet2<br> Topic: /localization_stars_link/fix_pos | Type: geometry_msgs/msg/PointStamped<br> Topic: /TrajectoryControlStatus | Type: std_msgs/msg/String<br> Topic: /base/rxmrawx | Type: ublox_msgs/msg/RxmRAWX<br> Topic: /PathNoStackUp | Type: itrci_nav/msg/ParametricPathSet<br> Topic: /joy/set_feedback | Type: sensor_msgs/msg/JoyFeedback<br> Topic: /position_goal | Type: geometry_msgs/msg/PoseStamped<br> Topic: /rover/aideph | Type: ublox_msgs/msg/AidEPH<br> Topic: /FrontLaserScanObstacles | Type: sensor_msgs/msg/LaserScan<br> Topic: /rover/navstate | Type: ublox_msgs/msg/NavSAT<br> Topic: /parametric_trajectories_editor_node/feedback | Type: visualization_msgs/msg/InteractiveMarkerFeedback<br> Topic: /imu/rpy | Type: geometry_msgs/msg/Vector3Stamped<br> Topic: /base/aidalm | Type: ublox_msgs/msg/AidALM<br> Topic: /Path | Type: itrci_nav/msg/ParametricPathSet<br> Topic: /LaserScanObstacles | Type: sensor_msgs/msg/LaserScan<br> Topic: /localization_stars_link/gnss_pose | Type: geometry_msgs/msg/PoseWithCovarianceStamped<br> Topic: /ControlPathDataFeedForward | Type: geometry_msgs/msg/PoseStamped<br> Topic: /localization_stars_link/nav_pos_rel | Type: geometry_msgs/msg/PointStamped<br> Topic: /safety_system_flag | Type: std_msgs/msg/Int16<br> Topic: /odom | Type: nav_msgs/msg/Odometry<br> Topic: /rslidar_points | Type: sensor_msgs/msg/PointCloud2<br> Topic: /debug/TimeCycleSec | Type: std_msgs/msg/Float64<br> Topic: /localization_stars_link/magnetometer_heading | Type: visualization_msgs/msg/Marker<br>