Heterogeneous UAV dataset for relative localization and cooperative flight

Contains data from the real-world experiments presented in

• Václav Pritzl, Matouš Vrba, Petr Štěpán, and Martin Saska, Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle, arXiv:2306.17544 [cs], June 2023, doi:10.48550/arXiv.2306.17544.

UAVs

Sensors and topics

The data are provided in the rosbag format. The system time of the UAVs was synchronized using chrony with the primary UAV acting as the server and the secondary UAV acting as the client.

Primary LiDAR-equipped UAV (left)

The primary UAV was built upon the Holybro X500 frame. It was equipped with the Ouster OS0-128 Rev C 3D LiDAR producing scans of resolution 1024 x 128 beams at 10 Hz. Use the Ouster ROS driver with the replay argument to generate PointCloud2 messages from the lidar_packets. The /uav35/odometry/slow_odom was transmitted from the secondary UAV to the primary UAV over wi-fi using nimbro_network.

sensor / content	topic	message type	rate [Hz]
Ouster OS0-128 Rev C	/uav12/os_cloud_nodelet/imu	sensor_msgs/Imu	100
	/uav12/os_nodelet/imu_packets	ouster_ros/PacketMsg	100
	/uav12/os_nodelet/lidar_packets	ouster_ros/PacketMsg	640
Garmin LIDAR-Lite v3	/uav12/mavros/distance_sensor/garmin	sensor_msgs/Range	85
Pixhawk GPS	/uav12/mavros/global_position/compass_hdg	std_msgs/Float64	100
	/uav12/mavros/global_position/global	sensor_msgs/NavSatFix	100
	/uav12/mavros/global_position/local	nav_msgs/Odometry	100
	/uav12/mavros/global_position/raw/fix	sensor_msgs/NavSatFix	1
	/uav12/mavros/global_position/raw/gps_vel	geometry_msgs/TwistStamped	1
	/uav12/mavros/global_position/raw/satellites	std_msgs/UInt32	1
	/uav12/mavros/global_position/rel_alt	std_msgs/Float64	100
Pixhawk IMU	/uav12/mavros/imu/data	sensor_msgs/Imu	100
	/uav12/mavros/imu/data_raw	sensor_msgs/Imu	100
	/uav12/mavros/imu/mag	sensor_msgs/MagneticField	85
	/uav12/mavros/imu/static_pressure	sensor_msgs/FluidPressure	19
	/uav12/mavros/imu/temperature_imu	sensor_msgs/Temperature	19
ALOAM LiDAR SLAM odometry	/uav12/slam/odom	nav_msgs/Odometry	10
secondary UAV odometry in the LiDAR SLAM frame tracked from fusion of LiDAR and VIO data	/uav12/uav_tf_publisher/tracked_uav	nav_msgs/Odometry	20
VIO of secondary UAV received over wi-fi	/uav35/odometry/slow_odom	nav_msgs/Odometry	2
TFs	/tf	tf2_msgs/TFMessage	-
static TFs	/tf_static	tf2_msgs/TFMessage	-

Secondary camera-equipped UAV (right)

The smaller secondary UAV was built upon the DJI F330 frame. It carried the mvBlueFOX-MLC200wG monocular camera with DSL217 fisheye lens and the ICM-42688-P IMU for Visual-Inertial Odometry. It was equipped with the Emlid Reach RTK module providing ground truth measurements.

sensor / content	topic	message type	rate [Hz]
BlueFOX monocular camera	/mv_25003659/image_raw/compressed	sensor_msgs/CompressedImage	30
high-rate ICM-42688-P IMU	/uav35/vio_imu/imu_raw	sensor_msgs/Imu	1000
	/uav35/vio_imu/imu_filtered	sensor_msgs/Imu	1000
RTK Emlid Reach ground truth	/uav35/odometry/rtk_local_odom	nav_msgs/Odometry	10
Pixhawk GPS	/uav35/mavros/global_position/compass_hdg	std_msgs/Float64	100
	/uav35/mavros/global_position/global	sensor_msgs/NavSatFix	100
	/uav35/mavros/global_position/local	nav_msgs/Odometry	100
	/uav35/mavros/global_position/raw/fix	sensor_msgs/NavSatFix	1
	/uav35/mavros/global_position/raw/gps_vel	geometry_msgs/TwistStamped	1
	/uav35/mavros/global_position/raw/satellites	std_msgs/UInt32	1
	/uav35/mavros/global_position/rel_alt	std_msgs/Float64	100
Pixhawk IMU	/uav35/mavros/imu/data	sensor_msgs/Imu	100
	/uav35/mavros/imu/data_raw	sensor_msgs/Imu	100
	/uav35/mavros/imu/mag	sensor_msgs/MagneticField	85
	/uav35/mavros/imu/static_pressure	sensor_msgs/FluidPressure	19
	/uav35/mavros/imu/temperature_imu	sensor_msgs/Temperature	19
VIO odometry - VINS-Mono	/uav35/odometry/odom_vio	nav_msgs/Odometry	100
throttled VIO odometry (corresponds to the topic received by the primary UAV)	/uav35/odometry/slow_odom	nav_msgs/Odometry	2
TFs	/tf	tf2_msgs/TFMessage	-
static TFs	/tf_static	tf2_msgs/TFMessage	-

camera_imu_calibration.yaml contains extrinsic and intrinsic camera-IMU parameters in the format utilized by VINS-Mono config.

Rosbags

content	UAV	length	size
circular flight	primary	339 s	5.19 GB
	secondary	317 s	1.02 GB
figure-eight flight	primary	521 s	7.97 GB
	secondary	512 s	1.6 GB

Run ./download.sh to download and extract the rosbags, or download them directly from here.

Example tmuxinator session

The folder ./tmux/ contains an example tmuxinator session showing how the play the rosbags, generate PointCloud2 messages from the lidar_packets, and visualize the data in RViz.