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r2b dataset 2024

r2b dataset 2024

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Description
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.
Publisher
NVIDIA
Latest Version
1
Modified
February 27, 2025
Compressed Size
3.31 GB

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 r2b_galileo sequence Room sequence including robots, shelving, boxes, pallets, with moving obstacles, captured using multiple cameras.
r2b_galileo2 r2b_galileo2 sequence Room sequence including robots, shelving, boxes, pallets, with moving obstacles, captured using a single camera.
r2b_robotarm r2b_robotarm sequence Robot arm sequence containing objects on a tray.
r2b_whitetunnel r2b_whitetunnel sequence 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.