Relyon Dataset

Note

The dataset will be released upon publication of the corresponding paper.

This repository contains a dataset collected in a cylindrical tank at Relyon Nutec Trondheim.

The dataset was collected using a flying platform with an Ouster OS0-64 Rev. D LiDAR as the main sensor.

Collected in April 2022.

Bagfile

The dataset is a ROS 1 bagfile available at this link.

The bagfile contains the following topics:

Topic	Type	Source
/os_node/lidar_packets	ouster_ros/PacketMsg	Ouster OS0-64 Rev. D LiDAR
/os_node/imu_packets	ouster_ros/PacketMsg	Ouster OS0-64 Rev. D LiDAR
/mavros/imu/data_raw	sensor_msgs/Imu	Pixracer Pro Autopilot IMU

LiDAR Driver

The official Ouster ROS driver can be used to convert the packets on the /os_node topics to pointclouds and IMU messages.

To run the driver with the dataset, one may use the command

roslaunch ouster_ros replay.launch metadata:=metadata.json ouster_ns:=os_node timestamp_mode:=TIME_FROM_ROS_TIME

with the metadata.json file from this repostory.

Transforms

The transform between the IMU frame (body) and the LiDAR (os_sensor) is given by the following static transform:

frame_id child_frame_id x y z    qx qy qz qw
body     os_sensor      0 0 0.05 0  0  0  1

Acknowledgements

We thank Relyon Nutec Trondheim for access to the facility.