Questions about which LIDAR corresponds to which topics

[DanielChaseButterfield]

Thanks again for this dataset! A couple of quick questions. Section III-A of your paper specifies that each ground robot is equipped with a "Ouster OS1-64 3D LiDAR". However, the table further down lists three LIDARs:

Additionally, in the Outdoor FOREST sequence of the dataset, for the Wilbur robot, I noticed there are actually three LIDAR topics. I've tried investigating the contents of the messages to determine which LIDAR corresponds to which, but so far have been unsuccessful due to the flattened nature of the data (I was hoping the 2D array size might line up with their expected resolutions). Could you confirm which of the messages correspond to which lidar?

/wilbur/lidar_points
/wilbur/lidar_points_center
/wilbur/lidar_points_front

Also, secondary question, could you provide the Hardware version of the LIDARs as well? The datasets vary based on this version (for example, # of returns), so it would be useful to determine more information about the point clouds.

Example:

• OS1 (Rev D) Datasheet
• OS1 (Rev7) Datasheet