DOI: 10.5281/zenodo.15295489
title: UGV-apple-august-2024

description: This dataset contains:



[2024-08-05_10-47-44.bag]: Raw ROS 1 bag files (.bag) containing synchronised sensor streams recorded onboard a UGV.

[metadata_2024-08-05-10:44:36.json]: Metadata detailing the LiDAR acquisition conditions and sensor specifications.

[robot.urdf.xacro]: A Xacro model file describing the robot structure.

[wholecloud_auzeville.txt]: An example of processed data provided in TXT format with paramters: X,Y,Z,intensity,ambient,reflectivity,stdev_reflectivity,echoe,echo_order,range,horizontal_angle,elevation_angle,passing_beams,inside_beams,local_gap_fraction


Data were collected on 5 August 2024 in an apple orchard at the "Lycée agricole de Toulouse Auzeville", France.This dataset is designed to support research in 3D mapping, semantic segmentation, and tree structure analysis for agricultural robotics applications.

**Primary sensor**: LiDAR - Ouster OS0-128 **Additional sensors**: RGB camera, IMU VN-300, Novatel FLEX6-G2S-ROG-CCN (GNSS+RTK), KVH DSP-3000 Gyroscope **Platform**: Ground mobile platform (UGV)ROSbag info:

version:      2.0duration:     17:51s (1071s)start:        Aug 05 2024 10:47:45.13 (1722847665.13)end:          Aug 05 2024 11:05:37.12 (1722848737.12)size:         36.6 GBmessages:     2385160compression:  bz2 [64131/64131 chunks; 52.66%]uncompressed: 69.5 GB @ 66.4 MB/scompressed:   36.6 GB @ 34.9 MB/s (52.66%)types:        camera_control_msgs/currentParams        [442a674eef3748e9fe89b83004286960]              geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96]              gps_ros/gps_solution_s                   [955a295f9868f5be5174ea7f7ef9ebdb]              ouster_ros/PacketMsg                     [4f7b5949e76f86d01e96b0e33ba9b5e3]              rmp_msgs/Battery                         [f734bf38f159e9150d68440a3d2fe845]              sensor_msgs/Image                        [060021388200f6f0f447d0fcd9c64743]              sensor_msgs/Imu                          [6a62c6daae103f4ff57a132d6f95cec2]              sensor_msgs/NavSatFix                    [2d3a8cd499b9b4a0249fb98fd05cfa48]              std_msgs/String                          [992ce8a1687cec8c8bd883ec73ca41d1]topics:       /base/rmp440le/battery                5549 msgs    : rmp_msgs/Battery                                      /frontal_camera_node/image_raw       10720 msgs    : sensor_msgs/Image                                     /gps/info                            21082 msgs    : gps_ros/gps_solution_s                                /gps/twist                           21081 msgs    : geometry_msgs/TwistWithCovarianceStamped              /kvh/twist                          102840 msgs    : geometry_msgs/TwistWithCovarianceStamped              /novatel/fix                         21440 msgs    : sensor_msgs/NavSatFix                                 /ouster/imu_packets                 133994 msgs    : ouster_ros/PacketMsg                                  /ouster/lidar_packets              1282376 msgs    : ouster_ros/PacketMsg                                  /ouster/metadata                         1 msg     : std_msgs/String                                       /panoramic_camera_node/image_raw      9722 msgs    : sensor_msgs/Image                                     /pylon_camera_node/currentParams     20444 msgs    : camera_control_msgs/currentParams                     /twist_rmp440                         5549 msgs    : geometry_msgs/TwistWithCovarianceStamped              /vectornav/IMU/up                   214391 msgs    : sensor_msgs/Imu                                       /vectornav/Twist_ENU                428780 msgs    : geometry_msgs/TwistWithCovarianceStamped              /xsens/imu                          107191 msgs    : sensor_msgs/Imu