RabbitRobot VLN & Open Robot Assets
Collection
Curated RabbitRobot research matrix: VLN Lab, recovery task cards, coverage planning demo and ROS 2 graph data for real-robot navigation. • 4 items • Updated
Datasets:
License:
Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 4 new columns ({'endpoint', 'relation', 'interface_type', 'feature_name'}) and 6 missing columns ({'nodes', 'name', 'services', 'commands', 'actions', 'topics'}).
This happened while the csv dataset builder was generating data using
hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary/data/ros2_graph_edges.csv (at revision e13d01bf90bf2938debee08d4a173ba6eedd8787), ['hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary@e13d01bf90bf2938debee08d4a173ba6eedd8787/data/feature_summary.csv', 'hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary@e13d01bf90bf2938debee08d4a173ba6eedd8787/data/ros2_graph_edges.csv', 'hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary@e13d01bf90bf2938debee08d4a173ba6eedd8787/data/topic_index.csv']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1837, in _prepare_split_single
writer.write_table(table)
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 765, in write_table
self._write_table(pa_table, writer_batch_size=writer_batch_size)
~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
pa_table = table_cast(pa_table, self._schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
feature_id: string
feature_name: string
relation: string
endpoint: string
interface_type: string
category: string
status: string
-- schema metadata --
pandas: '{"index_columns": [{"kind": "range", "name": null, "start": 0, "' + 1111
to
{'feature_id': Value('string'), 'name': Value('string'), 'category': Value('string'), 'status': Value('string'), 'nodes': Value('int64'), 'topics': Value('int64'), 'services': Value('int64'), 'actions': Value('int64'), 'commands': Value('int64')}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1839, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
...<4 lines>...
)
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 4 new columns ({'endpoint', 'relation', 'interface_type', 'feature_name'}) and 6 missing columns ({'nodes', 'name', 'services', 'commands', 'actions', 'topics'}).
This happened while the csv dataset builder was generating data using
hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary/data/ros2_graph_edges.csv (at revision e13d01bf90bf2938debee08d4a173ba6eedd8787), ['hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary@e13d01bf90bf2938debee08d4a173ba6eedd8787/data/feature_summary.csv', 'hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary@e13d01bf90bf2938debee08d4a173ba6eedd8787/data/ros2_graph_edges.csv', 'hf://datasets/lijinghai/R550-ROS2-Graph-Dictionary@e13d01bf90bf2938debee08d4a173ba6eedd8787/data/topic_index.csv']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
feature_id string | name string | category string | status string | nodes int64 | topics int64 | services int64 | actions int64 | commands int64 |
|---|---|---|---|---|---|---|---|---|
mapping_slam_toolbox | 建图 / SLAM 建图 / slam_toolbox | 建图 | offline-captured | 14 | 40 | 85 | 0 | 2 |
core_base_lidar | 底盘基础 + 雷达 | 底盘/雷达 | online-captured | 12 | 33 | 70 | 0 | 2 |
camera_astra | 相机 / 摄像头 / Astra Camera | 相机 | offline-captured | 15 | 42 | 125 | 0 | 1 |
nav2_navigation | 导航 / Nav2 | 导航 | offline-from-project | 0 | 8 | 0 | 0 | 1 |
imu_ekf | IMU / EKF / 姿态融合 | IMU | online-captured | 2 | 3 | 8 | 0 | 1 |
voice_mic | 语音 / 麦克风 / AIUI / TTS | 语音 | offline-from-project | 0 | 0 | 0 | 0 | 3 |
follower_modes | 跟随 / 追踪 / follower | 跟随 | offline-from-project | 0 | 4 | 0 | 0 | 3 |
vision_ai | 视觉识别 / YOLO / ArUco / KCF | 视觉 | offline-from-project | 0 | 9 | 0 | 0 | 3 |
gps_rtk | GPS / RTK / 定位 | GPS | offline-from-project | 0 | 0 | 0 | 0 | 2 |
joy_keyboard | 手柄 / 键盘控制 | 控制 | offline-from-project | 0 | 5 | 0 | 0 | 2 |
path_tools | 路径保存 / 路径跟随 | 路径 | offline-from-project | 0 | 5 | 0 | 0 | 2 |
robot_model_tf | 机器人模型 / TF / URDF | 模型 | online-captured | 7 | 4 | 42 | 0 | 1 |
rtabmap_3d | RTAB-Map / 3D 建图 | 建图 | offline-from-project | 0 | 7 | 0 | 0 | 2 |
rrt_exploration | RRT 探索 / 自主探索 | 探索 | offline-from-project | 0 | 8 | 0 | 0 | 2 |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
mapping_slam_toolbox | null | 建图 | offline-captured | null | null | null | null | null |
End of preview.
R550 ROS2 Graph Dictionary
Part of RabbitRobot VLN & Open Robot Assets: public demos and datasets distilled from real ROS 2 robot engineering.
这是 lijinghai 在 RabbitRobot / R550 机器人开发中整理出的公开 ROS 2 图谱字典数据集。
原始项目是一个本地 Web 字典工具：把真实机器人启动后的功能域、节点、Topic、Service、Action、launch 命令和工程说明整理到浏览器里，方便调试、检索和复盘。这个 Hugging Face 版本只发布脱敏后的结构化数据，不发布真实内网地址、访问凭据、完整运行日志或私有机器人文件。
What is included
data/r550_ros2_features.json: 14 个功能域的结构化 ROS 2 字典。data/feature_summary.csv: 每个功能域的节点、Topic、Service、Action 计数。data/ros2_graph_edges.csv: 功能域到 node/topic/service/action/command 的边表，可用于图谱检索或可视化。data/topic_index.csv: Topic 索引表，适合做检索、问答或 Web 字典。schemas/ros2_graph_dictionary_schema.json: 数据字段说明。
Why this matters
真实机器人项目里，很多问题不在单个算法，而在系统层：
- 哪个 launch 会带起哪些节点；
- 哪些 Topic 承担底盘、雷达、IMU、相机、地图和导航状态；
- 哪些 Service / Action 是调试入口；
- 调参、复盘和远程协作时，别人能不能快速理解整套 ROS 2 图。
这个数据集把这些工程痕迹做成可公开的资产，既能服务 RabbitRobot 的技术主页，也能作为 Hugging Face 上面向机器人系统工程的轻量 graph dataset。
Source context
本数据来自 lijinghai 本地 LJH ROS2 Web Dictionary 项目的公开化整理。数据中保留 ROS 2 节点、话题、服务类型等工程信息；移除了内网 IP、密码、token、绝对私有路径和完整日志。
更多项目经历见：
- GitHub: https://github.com/lijinghai
- Personal site: https://lijinghai.github.io/
- Hugging Face profile: https://huggingface.co/lijinghai
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