The laser files have timestamps that have been adjusted to account for the delay in the serial connection.  They should be very close to the odometer and inertial timestamps without any adjustments.

The max range is about 80 m and the resolution is 5 cm do to quantization of the range measurements.  The units are mm.

I gave this sensor type number 12.  I can change this of course but it seems available.

The scan data consists of 181 scan points 1 degree apart from a scanner facing forwards, about 70 cm high from the ground.

For 'this' data set the Laser is mounted 20 cm forward of the center of the robot.  This means the LASER_OFFSET=(dx dy dtheta) = (0.20 0  0.70)

(I put 'this' in quotes as there is only one offset for now but I have other data with other offsets which I will give when I put that data up.)

Note that the fused data is the location of the SICK scanner and not the robot center so for that data no offsets (time or space) need to be added.
 
 

Back to main page  John Folkesson johnf@nada.kth.se