Southampton Sailing Robot test logs 2016-2018

(2020) Southampton Sailing Robot test logs 2016-2018. Zenodo doi:10.5281/zenodo.3597448 [Dataset]

Abstract

These files contain recorded data from the Southampton Sailing Robot Team's boat, the Black Python. The logs cover various test runs, and three WRSC competitions: 2016 (viana), 2017 (horten) and 2018 (calshot). Each test run generated several files: .bag and .bag.metadata: Rosbag files, recordings of messages sent among parts of the control system, which was built in the ROS 1.x framework. ROS includes tools to inspect and replay these files. params-dump-*.jsn: JSON dumps of the parameters used to launch that run, including waypoint GPS coordinates and sensor calibration parameters, among other values. gps-trace*.csv: GPS coordinates of the boat during the run, in the format required by WRSC. The three columns are timestamp (`hhmmssdd`), latitude and longitude both converted to integers by multiplying decimal degrees by 1e7, i.e. shifting the decimal point 7 places to the right. All GPS coordinates use the WGS-84 reference. gps-raw-nmea*: Raw NMEA-0183 protocol data sent by the GPS receiver. This should be redundant with the CSV data so long as it was parsed correctly. map-gps-trace*.html: GPS traces plotted in interactive maps using Folium, overlaid on OpenStreetMap tiles. index.html contains a generated overview of the test runs performed, and the files associated with each. The source code used to create these files, including both the control system for the boat and scripts for processing the data is available in a git repository at: https://github.com/Maritime-Robotics-Student-Society/sailing-robot Exactly what data is in the different runs varies as the hardware and software were evolving at the same time. We did not record which commit generated each file.

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Contributors

Contributor: Sébastien Lemaire

Contributor: Alvaro Perez-Diaz

Contributor: Thomas Kluyver

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