Experimental Data
Access the datasets collected during our Fusion Robotics project, understand their format, and how they are processed.
Open Data for Reproducibility and Research
In the spirit of open source and collaboration, we are sharing the experimental data collected during the development and testing of our Quadruped-UR5 testbed. This data primarily consists of ROS bag files containing timestamped sensor readings and system states recorded during autonomous runs.
Potential uses for this data include:
- Reproducing our pose estimation comparisons.
- Testing alternative sensor fusion algorithms.
- Analyzing quadruped gait performance under different parameters.
- Developing simulation models based on real-world sensor characteristics.
Accessing the Data
The datasets are hosted on GitHub within the project repository. Please follow the link below to access the data directory:
Access Experimental Data on GitHub
Data Format and Content
The data is primarily stored as ROS 2 bag files (`.db3` or
directory format). You will need a ROS 2 Humble installation to
easily inspect and replay these bags using tools like
ros2 bag info and ros2 bag play.
Key topics typically included in the bags are:
/imu/data(sensor_msgs/Imu)/imu/orientation(geometry_msgs/Quaternion)-
/imu/pose_estimate(geometry_msgs/PoseStamped) /orb/pose(geometry_msgs/PoseStamped)/servo/state(std_msgs/Float64MultiArray)/servo/command(std_msgs/Float64MultiArray)/tfand/tf_static
Data Filtering and Usage
The raw sensor data undergoes processing within our nodes:
- IMU Bias Removal: Initial calibration calculates and subtracts biases.
- IMU Filtering: Low-pass filtering applied; velocity decayed.
- Visual Pose Smoothing: Savitzky-Golay filter applied to translation estimates.
- UI Plotting: Key topics buffered for real-time web UI visualization.
- Pose Estimation Comparison: IMU-based and visual-based poses published for analysis.
Data Visualization Examples
Examples of typical data plots generated from our experiments.
Comparision with OptiTrack
Position comparison between out sensor suit and the OptiTrack
Position and Orientation Plots
Plot shows the position and orientation estimates of servos and the IMU velocity and acceleration.
Ultrasonic Sensor
Ultrasonic sensor data showing the distance to the object.
ROS 2 Node Graph (rqt_graph)
Visualization of the active ROS 2 nodes and their topic connections.
CPG Controller
Controller for the CPG (Central Pattern Generator) to control the gait of the quadruped.
Please refer to any accompanying README.md files within the data repository for specific details about individual datasets or recording conditions.