Table 1 Overview of the collected rover data, amounting to a total of ca. 450GB in MCAP rosbags.

From: BASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset

Data

Rate [Hz]

Entries

Thermal images

1

36,000

Thermal RGB images

1

36,000

RS depth images

1

36,000

RS color images

1

36,000

Navcam images

1

62,000

(F/T) measurements

100

16,037,000

GNSS position

4

109,000

IMU

50

1,373,000

FOG

100

2,746,000

Transformation tree

18

480,000

  1. The image topics were recorded at 1.2 to 1.4 Hz instead of the sensors’ maximum frequencies in the order of 30 Hz. This was considered a good compromise between data usability and storage. The table reports the lowest observed value and the number of entries is an approximation to give an idea of the data volume. The transformation tree is ROS’s representation of transformations between rover coordinate frames.