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Example bagfile of SICK LIDAR data on robot driving around

asked 2012-02-29 20:49:02 -0600

updated 2014-01-28 17:11:32 -0600

ngrennan gravatar image

I'm interested in some example bagfile data of a robot driving around indoors with one of the large SICK scanners like the SICK LMS 200 (180 deg FOV, 1 deg angular resolution, high update rate of 75Hz). Does anyone know where to find such a bagfile? I don't have access to the hardware myself and seeing how many people have pioneers with SICK scanners on them, I'm sure there must be some bagfiles floating around somewhere :). I basically only need the scan data (provided the vehicle doesn't experience attitude changes/is driving on flat ground).

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answered 2012-03-01 05:04:30 -0600

Eric Perko gravatar image

updated 2012-03-01 14:16:06 -0600

I have a bagfile (5.8MB tar.bz2) that might work for you. On the base_laser1_scan topic you'll find the data from a SICK LMS291 outputting at 75Hz with 0.5 degree increments in a 180 degree FOV and 80 meters max range. The 0.5 degree increments actually means you get 2 separate 1 degree scans with slightly different angle_min and angle_max values to reflect the starting offset. If you just want 1 set of 1 degree scans, just pick a starting angle_min and filter all the scans with a different angle_min.

For a ground truth, these scans were taken while going from "X" to "O" and back on the map attached to this answer.

Map of 2nd Floor of Glennan at CWRU

The bagfile I linked also contains uncorrected odometry information for the robot (CWRU's HARLIE) as it moved along, as well as laser scan topics from a Hokuyo URG-04LX (or URG-04LX-UG01 I can't remember exactly which) and the laser extracted from a Neato XV-11.

If that bagfile doesn't contain what you were looking for, I can check this evening to see if I still have the bagfile that we built the posted map from with gmapping. I believe that one was taken with the scanner set to 1 degree resolution as opposed to 0.5 degree resolution.


The bagfile that the map was built from (I'm ~90% certain) is here (44MB tar.bz2). I can't actually say for certain since my NVIDIA driver is currently in a weird state, so RViz isn't displaying laser data. The name and date are right for a data collection of that mapped area though.

The SICK was set to 1 degree mode, as there is only one angle_min value in the bagged data (/base_laser1_scan topic again). All other parameters were the same as above.

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Hi Eric, thanks for the bagfile, that already helps. A 1 deg resolution one would be even better, so if you find it let me know :) Thanks again.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2012-03-01 09:10:44 -0600 )edit

Updated my answer with the link to another bagfile. I'm certain that it has 1 deg resolution, and pretty positive that it could be used with gmapping to produce a map very similar to the one I posted (so it covers a much larger area than the bag I originally posted).

Eric Perko gravatar image Eric Perko  ( 2012-03-01 14:17:29 -0600 )edit

Thanks a lot for the additional data!

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2012-03-04 05:26:24 -0600 )edit

answered 2012-02-29 21:20:40 -0600

prince gravatar image

updated 2012-02-29 21:25:04 -0600

There are couple of sample bags with tutorial. I found these sample bags posted with questions on wiki. These might be of use.



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From looking at the bags it does not look as if they were recorded using a SICK scanner with the specified parameters. I'll update my OP to be more specific.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2012-03-01 02:14:34 -0600 )edit

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Asked: 2012-02-29 20:49:02 -0600

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Last updated: Mar 01 '12