The r2b dataset 2024 is a collection of live recorded sequences stored in rosbags (a ROS 2 native format used for message data) including time-synchronized sensor captures from a robot.
r2b Dataset 2024
Dataset Overview
The r2b dataset 2024 is a collection of sequences stored in rosbags, a ROS 2 native format used for message data including time synchronized sensor captures from a robot. The dataset can be loaded and played back into an application running a ROS graph of nodes for testing and performance benchmarking of image processing, perception and localization. Each sequence consists of a single sequence in a scene, providing a small diversity of data across the collection of sequences in this dataset.
All sequences contain sensor multi-second captures including stereo camera and IMU data from HAWK stereo cameras with highly precise time synchronization.
| Sequence | Visual | Description |
|---|---|---|
r2b_galileo |  | Room sequence including robots, shelving, boxes, pallets, with moving obstacles, captured using multiple cameras. |
r2b_galileo2 |  | Room sequence including robots, shelving, boxes, pallets, with moving obstacles, captured using a single camera. |
r2b_robotarm |  | Robot arm sequence containing objects on a tray. |
r2b_whitetunnel |  | Hallway sequence with low to no feature not-perpendicular walls, specular highlights, and reflections. |
Documentation
Topics Provided
The sequences contained in this dataset contain the following topics:
| Sequence | Topics Provided | Message Type |
|---|---|---|
r2b_galileo r2b_whitetunnel | /front_stereo_camera/left/image_compressed /front_stereo_camera/left/camera_info /front_stereo_camera/right/image_compressed /front_stereo_camera/right/camera_info /left_stereo_camera/left/image_compressed /left_stereo_camera/left/camera_info /left_stereo_camera/right/image_compressed /left_stereo_camera/right/camera_info /right_stereo_camera/left/image_compressed /right_stereo_camera/left/camera_info /right_stereo_camera/right/image_compressed /right_stereo_camera/right/camera_info /back_stereo_camera/left/image_compressed /back_stereo_camera/left/camera_info /back_stereo_camera/right/image_compressed /back_stereo_camera/right/camera_info /front_stereo_imu/imu /chassis/imu /chassis/battery_state /chassis/odom /chassis/ticks /tf /tf_static | sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/CompressedImage sensor_msgs/msg/CameraInfo sensor_msgs/msg/Imu sensor_msgs/msg/Imu sensor_msgs/msg/BatteryState nav_msgs/msg/Odometry isaac_ros_nova_interfaces/msg/EncoderTicks tf2_msgs/msg/TFMessage tf2_msgs/msg/TFMessage |
r2b_galileo2 | /camera/color/image_raw /camera/color/camera_info /camera/realsense_splitter_node/output/infra_1 /camera/infra_1/camera_info /camera/realsense_splitter_node/output/infra_2 /camera/infra_2/camera_info /camera/realsense_splitter_node/output/depth /camera/depth/camera_info /tf_static | sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo tf2_msgs/msg/TFMessage |
r2b_robotarm | /camera_1/color/image_raw /camera_1/color/camera_info /camera_1/aligned_depth_to_color/image_raw /camera_1/aligned_depth_to_color/camera_info /robot_description /joint_states /tf /tf_static | sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo std_msgs/msg/String sensor_msgs/msg/JointState tf2_msgs/msg/TFMessage tf2_msgs/msg/TFMessage |
MD5 Checksums
A MD5 checksum of each rosbag is provided to verify the dataset sequence used in testing or benchmarking matches, to detect inconsistencies in input data, and to provide a method to confirm that the same input dataset sequence is used when comparing independent results.
| Sequence | Checksum | Size |
|---|---|---|
r2b_galileo | 5853942332396270255a8190e363d075 | 471M |
r2b_galileo2 | 78c96e908e158c5b16213212e8362ad3 | 986M |
r2b_robotarm | 8eee68848ee1a95e21b1cd44d5d6ba71 | 1.4G |
r2b_whitetunnel | 8ae4851eec61c7ba847757e9082bd01c | 503M |
Getting Started/Example
Download the dataset to your local system, and playback the rosbag for test or benchmarking.
ros2 bag play path/to/r2b_sequence
For more information about using this dataset for benchmarking ROS 2 graphs of nodes, see ros2_benchmark.
License
This dataset is licensed under Creative Commons - Attribution 4.0 International.
Ethical Considerations
This dataset consists of captures in NVIDIA’s facilities in the United States. Persons in the datasets have consented to use of their images.
This dataset is not sufficiently diverse to be representative of the public in general.