- The robot has front-wheel steering, meaning only the front wheels turn to control the direction.
- θ (theta): Controls the steering angle, determining how much the wheels turn left or right.
- ω (omega): Controls the drive velocity, which is the speed at which the robot moves.
- data.mcap: Contains multiple types of data logs. This file follows the MCAP format, commonly used for recording sensor data in robotics applications. It includes:
- Drive Command: Commanded values for θ (steering) and ω (velocity).
- Drive Feedback: Actual values received from sensors, indicating the robot’s real behavior compared to the command.
- Stereo Camera Data: Captured images from a stereo camera, which provides 3D perception and depth information.
- IMU Data: Inertial Measurement Unit readings (accelerometer & gyroscope) for motion and orientation tracking.
- Ground Truth Pose: The true position and orientation of the robot in the environment, used for performance evaluation.
- data.toml: It specifies physical properties of the robot, such as wheelbase, track width etc.