for the RA-L 2019 publication:

Margarita Grinvald, Fadri Furrer, Tonci Novkovic, Jen Jen Chung, Cesar Cadena, Roland Siegwart, Juan Nieto, “Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery”, IEEE Robotics and Automation Letters, 2019. pdf

Here is the output of

$ rosbag info

for the sequence 231 from the SceneNN dataset bag:

path:        scenenn_231.bag
version:     2.0
duration:    3:06s (186s)
start:       Jan 01 1970 01:00:00.03 (0.03)
end:         Jan 01 1970 01:03:06.35 (186.35)
size:        7.9 GB
messages:    27495
compression: none [5500/5500 chunks]
types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf/tfMessage           [94810edda583a504dfda3829e70d7eec]
topics:      /camera/depth/camera_info   5499 msgs    : sensor_msgs/CameraInfo
             /camera/depth/image_raw     5499 msgs    : sensor_msgs/Image     
             /camera/rgb/camera_info     5499 msgs    : sensor_msgs/CameraInfo
             /camera/rgb/image_raw       5499 msgs    : sensor_msgs/Image     
             /tf                         5499 msgs    : tf/tfMessage

Following is the rosbag information about the office floor sequence captured with two Primesense cameras for the online robotic mapping experiment:

path:        asl_office_floor.bag
version:     2.0
duration:    5:12s (312s)
start:       Feb 14 2019 17:18:42.10 (1550161122.10)
end:         Feb 14 2019 17:23:54.84 (1550161434.84)
size:        6.3 GB
messages:    118782
compression: none [6223/6223 chunks]
types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /ps_front/depth_registered/camera_info     1555 msgs    : sensor_msgs/CameraInfo
             /ps_front/depth_registered/image_raw       1555 msgs    : sensor_msgs/Image     
             /ps_front/rgb/camera_info                  1556 msgs    : sensor_msgs/CameraInfo
             /ps_front/rgb/image_raw                    1556 msgs    : sensor_msgs/Image     
             /ps_table/depth_registered/camera_info     1555 msgs    : sensor_msgs/CameraInfo
             /ps_table/depth_registered/image_raw       1555 msgs    : sensor_msgs/Image     
             /ps_table/rgb/camera_info                  1556 msgs    : sensor_msgs/CameraInfo
             /ps_table/rgb/image_raw                    1556 msgs    : sensor_msgs/Image     
             /tf                                      106338 msgs    : tf2_msgs/TFMessage     (2 connections)

scenenn_231.bag – 7.9 GB – sequence 231 from the SceneNN dataset as RGB-D rosbag.

asl_office_floor.bag – 6.3 GB – office floor sequence captured for the online robotic mapping experiment.