DOI: 10.5281/zenodo.8367595
title: Bags Recorded with MowIt AgRob Modular E Robot in vineyard at Terras Gauda

description: Bags Recorded @Terra Gauda Vineyard in Spain (41.93816100127097, -8.791314972313891) with all the sensors available in the robot: Topic: /teleop/cmd_vel | Type: geometry_msgs/msg/Twist Topic: /robot_electrical_data | Type: itrci_hardware/msg/RobotElectricalData Topic: /safety_system_flag | Type: std_msgs/msg/Int16 Topic: /clock | Type: rosgraph_msgs/msg/Clock Topic: /map_server/transition_event | Type: lifecycle_msgs/msg/TransitionEvent Topic: /navigation_current_state | Type: std_msgs/msg/String Topic: /spraying/cmd_vel | Type: geometry_msgs/msg/Twist Topic: /joy | Type: sensor_msgs/msg/Joy Topic: /rover/navclock | Type: ublox_msgs/msg/NavCLOCK Topic: /laser_security_area | Type: visualization_msgs/msg/Marker Topic: /debug/TimeLoadNSec | Type: std_msgs/msg/Float64 Topic: /PathWithEndOffset | Type: itrci_nav/msg/ParametricPathSetWithEndOffset Topic: /Detections | Type: vision_msgs/msg/Detection2DArray Topic: /rover/navsvin | Type: ublox_msgs/msg/NavSVIN Topic: /ActualPath | Type: itrci_nav/msg/ParametricPathSet Topic: /rover/navstatus | Type: ublox_msgs/msg/NavSTATUS Topic: /splines/cmd_vel | Type: geometry_msgs/msg/Twist Topic: /base/navpvt | Type: ublox_msgs/msg/NavPVT Topic: /pose_goal | Type: geometry_msgs/msg/PoseStamped Topic: /base/navsvin | Type: ublox_msgs/msg/NavSVIN Topic: /imu/data_raw | Type: sensor_msgs/msg/Imu Topic: /orientation_error | Type: std_msgs/msg/Float64 Topic: /Path | Type: itrci_nav/msg/ParametricPathSet Topic: /base/aidalm | Type: ublox_msgs/msg/AidALM Topic: /imu/rpy | Type: geometry_msgs/msg/Vector3Stamped Topic: /FrontLaserScanObstacles | Type: sensor_msgs/msg/LaserScan Topic: /rover/aideph | Type: ublox_msgs/msg/AidEPH Topic: /base/diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray Topic: /BackLaserScanObstacles | Type: sensor_msgs/msg/LaserScan Topic: /base/aideph | Type: ublox_msgs/msg/AidEPH Topic: /LaserScanObstacles | Type: sensor_msgs/msg/LaserScan Topic: /localization_stars_link/gnss_pose | Type: geometry_msgs/msg/PoseWithCovarianceStamped Topic: /cmd_vel | Type: geometry_msgs/msg/Twist Topic: /parametric_trajectories_control_node/Patch | Type: visualization_msgs/msg/MarkerArray Topic: /path_percent_done | Type: std_msgs/msg/Float64 Topic: /rslidar_scan | Type: sensor_msgs/msg/LaserScan Topic: /odom | Type: nav_msgs/msg/Odometry Topic: /goal_pose | Type: geometry_msgs/msg/PoseStamped Topic: /path_it | Type: std_msgs/msg/Float64 Topic: /sprayer_prescription | Type: std_msgs/msg/String Topic: /control_status | Type: itrci_nav/msg/ParametricTrajectoriesControlStatus Topic: /rslidar_points | Type: sensor_msgs/msg/PointCloud2 Topic: /base/rxmrawx | Type: ublox_msgs/msg/RxmRAWX Topic: /TrajectoryControlStatus | Type: std_msgs/msg/String Topic: /PathNoStackUp | Type: itrci_nav/msg/ParametricPathSet Topic: /localization_stars_link/fix_pos | Type: geometry_msgs/msg/PointStamped Topic: /rover/navrelposned | Type: ublox_msgs/msg/NavRELPOSNED9 Topic: /parametric_trajectories_editor_node/update | Type: visualization_msgs/msg/InteractiveMarkerUpdate Topic: /base/navstatus | Type: ublox_msgs/msg/NavSTATUS Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent Topic: /PathNoStackUp2 | Type: itrci_nav/msg/ParametricPathSet2 Topic: /tf_static | Type: tf2_msgs/msg/TFMessage Topic: /motion_current_state | Type: std_msgs/msg/String Topic: /base/fix | Type: sensor_msgs/msg/NavSatFix Topic: /TrajectoryControlCommand | Type: std_msgs/msg/String Topic: /clicked_point | Type: geometry_msgs/msg/PointStamped Topic: /motors_speed_ref | Type: itrci_hardware/msg/MotorsArrayInput Topic: /base/navstate | Type: ublox_msgs/msg/NavSAT Topic: /base/monhw | Type: ublox_msgs/msg/MonHW Topic: /rosout | Type: rcl_interfaces/msg/Log Topic: /base/navrelposned | Type: ublox_msgs/msg/NavRELPOSNED9 Topic: /ControlPathDataFeedForward | Type: geometry_msgs/msg/PoseStamped Topic: /localization_stars_link/nav_pos_rel | Type: geometry_msgs/msg/PointStamped Topic: /battery_current | Type: std_msgs/msg/Int32 Topic: /localization_stars_link/gnss_heading | Type: visualization_msgs/msg/Marker Topic: /rover/fix | Type: sensor_msgs/msg/NavSatFix Topic: /initialpose | Type: geometry_msgs/msg/PoseWithCovarianceStamped Topic: /debug/TimeCycleSec | Type: std_msgs/msg/Float64 Topic: /localization_stars_link/magnetometer_heading | Type: visualization_msgs/msg/Marker Topic: /map/prescription | Type: nav_msgs/msg/OccupancyGrid Topic: /localization_stars_link/magnetometer_heading_array | Type: visualization_msgs/msg/MarkerArray Topic: /joy/set_feedback | Type: sensor_msgs/msg/JoyFeedback Topic: /position_goal | Type: geometry_msgs/msg/PoseStamped Topic: /motors_outputs | Type: itrci_hardware/msg/MotorsArrayOutput Topic: /mowit_scissors_motor_driver_node/duty_cycle_ref | Type: std_msgs/msg/Int32 Topic: /localization_stars_link/gnss_heading_array | Type: visualization_msgs/msg/MarkerArray Topic: /rover/rxmrawx | Type: ublox_msgs/msg/RxmRAWX Topic: /base/fix_velocity | Type: geometry_msgs/msg/TwistWithCovarianceStamped Topic: /rover/navstate | Type: ublox_msgs/msg/NavSAT Topic: /parametric_trajectories_editor_node/feedback | Type: visualization_msgs/msg/InteractiveMarkerFeedback Topic: /tf | Type: tf2_msgs/msg/TFMessage Topic: /parametric_trajectories_control_node/Point1 | Type: visualization_msgs/msg/Marker Topic: /base/rxmrtcm | Type: ublox_msgs/msg/RxmRTCM Topic: /parametric_trajectories_control_node/Point2 | Type: visualization_msgs/msg/Marker Topic: /rover/fix_velocity | Type: geometry_msgs/msg/TwistWithCovarianceStamped Topic: /rover/rxmrtcm | Type: ublox_msgs/msg/RxmRTCM Topic: /ControlPathData | Type: geometry_msgs/msg/PoseStamped Topic: /base/navclock | Type: ublox_msgs/msg/NavCLOCK Topic: /battery_voltage | Type: std_msgs/msg/Int32 Topic: /safety_current_state | Type: std_msgs/msg/String Topic: /raw_can | Type: std_msgs/msg/String Topic: /rover/navpvt | Type: ublox_msgs/msg/NavPVT Topic: /rover/monhw | Type: ublox_msgs/msg/MonHW Topic: /path_num | Type: std_msgs/msg/Float64 Topic: /rover/aidalm | Type: ublox_msgs/msg/AidALM Topic: /rover/navheading | Type: sensor_msgs/msg/Imu Topic: /position_error | Type: std_msgs/msg/Float64 Topic: /rover/diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray Topic: /base/navheading | Type: sensor_msgs/msg/Imu <br> <br>