DOI: 10.5281/zenodo.13749419
title: Robocup at Home 2024 Rosbags Dataset for storing groceries

description: Rosbag for the storing groceries implementation from Gentlebots team in the Robocup at home 2024 OPL league competition. It contains the following topics: 





/say_text



Type: std_msgs/msg/String

Message count: 1





/tf



Type: tf2_msgs/msg/TFMessage

Message count: 7833





/scan



Type: sensor_msgs/msg/LaserScan

Message count: 1267





/tf_static



Type: tf2_msgs/msg/TFMessage

Message count: 7





/scan_raw



Type: sensor_msgs/msg/LaserScan

Message count: 1267





/robot_description



Type: std_msgs/msg/String

Message count: 1





/map



Type: nav_msgs/msg/OccupancyGrid

Message count: 1





/joint_states



Type: sensor_msgs/msg/JointState

Message count: 8446





/head_front_camera/rgb/image_raw



Type: sensor_msgs/msg/Image

Message count: 2530





/head_front_camera/rgb/camera_info



Type: sensor_msgs/msg/CameraInfo

Message count: 2530





/head_front_camera/depth/image_raw



Type: sensor_msgs/msg/Image

Message count: 2526





/bb_img_best_detection



Type: sensor_msgs/msg/Image

Message count: 0





/cmd_vel



Type: geometry_msgs/msg/Twist

Message count: 595




This dataset contains the following files:





behavior_server_74938_1721316457088.log (2.7 kB)



Description: A log file related to the behavior server of a the NAV2 stack





bt_navigator_74940_1721316457081.log (1.5 kB)



Description: A log file from the Behavior Tree (BT) Navigator. This component handles the decision-making process in a robotics navigation stack. The log probably details the sequence of actions the navigator took, including goal assignments, behavior tree execution steps, and potential errors during navigation.





controller_server_74932_1721316457073.log (8.0 kB)



Description: A log file generated by the controller server. This file contains logs related to the robot's controller, which is responsible for sending commands to the actuators and controlling the robot's movement. It may log control command outputs, feedback from actuators, errors, and overall performance during operation.





launch.log (37.3 kB)



Description: This is a log file generated during the launch of a ROS system or nodes. It likely contains output messages related to the initialization, configuration, and startup of various nodes and services in the system. This file helps track the sequence of launch events, including successes and failures during the system's boot process.





metadata.yaml (10.2 kB)



Description: A metadata file in YAML format. It usually contains information about the configuration, environment, or data included in the system or the ROS bag. For instance, it might include details such as the start time, the duration of recorded data, message types, topics, and QoS profiles. It helps organize and describe the context of the log and bag files.





planner_server_74936_1721316457074.log (10.5 kB)



Description: A log file from the planner server. This file logs the operations of the planning component from NAV2.





rosbag2_2024_07_18-17_27_55_0.db3



Description: This is the main ROS 2 bag file in a SQLite3 database format. It contains the recorded ROS topics and messages from the robot's operation during a specific time. The bag file holds sensor data, control commands, and system state information. This file is crucial for analyzing and replaying the robot's actions during the recording session.