dataset_name: odometry-rosbag-dataset
schema_version: 0.1.0
canonical_raw_format: rosbag1
timestamp_unit: ns

licenses:
  code: MIT
  data: CC-BY-NC-4.0

raw_layout:
  sessions_dir: raw/sessions
  session_bag_name: bag.bag
  checksum_name: bag.bag.sha256
  metadata_name: metadata.yaml
  topic_summary_name: topic_summary.yaml

default_topics:
  rgb: /camera/color/image_raw
  rgb_info: /camera/color/camera_info
  depth: /camera/depth/image_rect_raw
  depth_info: /camera/depth/camera_info
  infra1: /camera/infra1/image_rect_raw
  infra1_info: /camera/infra1/camera_info
  infra2: /camera/infra2/image_rect_raw
  infra2_info: /camera/infra2/camera_info
  lidar: /livox/lidar
  livox_imu: /livox/imu
  mavros_imu: /mavros/imu/data
  mavros_imu_raw: /mavros/imu/data_raw
  tof: /nlink_tofsensem_cascade
  odom_primary: /fusion_odometry/current_point_odom
  odom_secondary: /fusion_odometry/lazy_point_odom
  odom_ekf: /ekf_quat/ekf_odom
  tf: /tf
  tf_static: /tf_static

sensor_metadata:
  tof: metadata/tof_sensor.yaml
  sensors: metadata/sensors.yaml

quality_status:
  - unchecked
  - good
  - usable
  - bad