DARPA Robotics Challenge 2015 - Data Release
Arena at the Darpa Robotics Challenge 2015
Description
These bag files contain data captured at the Darpa Robotics Challenge 2015.
Dry run: Driving the car, climbing out of the car, opening the door, turning a valve, traversing debris, and finally the surprise task: open a cabinet door and pushing a button.
First run: Driving the car, climbing out of the car, opening the door, turning the valve, cutting a hole in drywall, traversing debris, and the surprise task: Operate a big switch. This was the best run, resulting in a fourth place for NimbRo Rescue.
Second run: Driving the car, opening the door, turning the valve, surprise task (plugging a hose), traversing debris. Here we suffered from an operator mistake during climbing out of the car, and temporarily got stuck in the debris.
The replayconfig.rviz file contains an RViz configuration file which shows important topics.
More information about our performance at DRC 2015 is available here:
http://ais.uni-bonn.de/nimbro/Rescue/index.html
Contact: Max Schwarz, University of Bonn (max.schwarz@uni-bonn.de)
Download
UBO_NimbRo_Rescue_2015-06-05_dry_run.bag (~30 GB)
UBO_NimbRo_Rescue_2015-06-06_first_run.bag (~28 GB)
UBO_NimbRo_Rescue_2015-06-07_second_run.bag (~20 GB)
replayconfig.rviz (~19 KB)
Topic Definition:
| Topic Name | Topic Type | Content |
| /camera_ground/image_raw/compressed | sensor_msgs/CompressedImage | Ground camera image |
| /camera_left_hand/image_raw/compressed | sensor_msgs/CompressedImage | Left hand camera image |
| /camera_overhead/image_raw/compressed | sensor_msgs/CompressedImage | Wide-angle overhead camera image |
| /camera_right/image_raw/compressed | sensor_msgs/CompressedImage | Right panoramic head camera image |
| /camera_right_hand/image_raw/compressed | sensor_msgs/CompressedImage | Right hand camera image |
| /momaro/diagnostics | actuator_msgs/Diagnostics | Actuator diagnostics (custom message type) |
| /vel_cmd | momaro_base/BaseVelocityCommand | Operator base velocity command |
| /heightmapper/height_map | momaro_heightmap/HeightMap | 2D height map |
| /surfel_map/scene_pointcloud | sensor_msgs/PointCloud2 | Pointcloud from global surfel map |
| /operator_cloud | sensor_msgs/PointCloud2 | Pointcloud from local surfel map |
| /scan | sensor_msgs/LaserScan | Raw 2D laser scans |
| /tf | tf2_msgs/TFMessage | ROS transforms (robot: base_link, world: world_corrected) |