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README.md

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+---
+license: cc-by-4.0
+pretty_name: WMU AD Assurance Lab drives, 2019-2024
+task_categories:
+- object-detection
+- image-segmentation
+tags:
+- autonomous-driving
+- radar
+- camera
+- can-bus
+- gnss
+- lidar
+size_categories:
+- 100K<n<1M
+viewer: false
+---
+
+# WMU AD Assurance Lab drives, 2019-2024
+
+Smaller recordings from the AD Assurance Lab at Western Michigan University: a six-camera urban drive, radar test
+drives, radar-only drives, ZED 2i campus drives and a 2019 2D-lidar weather test. The Ouster point clouds from the
+same drives are in a companion dataset,
+[`AD-Assurance-Lab/ouster-lidar-drives`](https://huggingface.co/datasets/AD-Assurance-Lab/ouster-lidar-drives).
+
+| Collection | When | What | Size |
+|---|---|---|---|
+| `kia_urban_2023-12` | 2023-12-04 | one 27-minute urban drive, six cameras, GNSS, road weather, CAN | 27 GB |
+| `radar_tests_2023-24` | 2023-12-11 to 2024-03-27 | eight short radar test bags, radar, one camera, CAN | 249 MB |
+| `radar_lidar_2020-21` | 2020-03-05, 2021-01-07 | a highway and a city drive, radar only | 14 MB |
+| `zed2i_campus_2022-07` | 2022-07-27, 2022-07-29 | two campus drives, ZED 2i left camera | 1.6 GB |
+| `lidar_weather_tests_2019` | Oct-Nov 2019 | 13 static 2D-lidar runs in four weather conditions | 2.6 MB |
+
+## Sensors
+
+| Sensor | Make and model | Collections | Source |
+|---|---|---|---|
+| Cameras | Basler, 1440×1080, about 15 fps (six in the urban drive, one in the radar tests) | `kia_urban_2023-12`, `radar_tests_2023-24` | `camera_info` in the bags |
+| Stereo camera | Stereolabs ZED 2i (left eye released), 1920×1080, about 14.6 fps | `zed2i_campus_2022-07` | Carow et al. 2023 |
+| Radar | Aptiv (Delphi) ESR 2.5 | `radar_tests_2023-24`, `radar_lidar_2020-21` | Brown et al. 2022 |
+| Second radar | smartmicro UMRR-96 Type 153 (inferred) | point clouds in two `radar_tests_2023-24` bags | Brown et al. 2023 sensor list |
+| GNSS | Swift Navigation Piksi Multi | `kia_urban_2023-12`, `radar_tests_2023-24` | topic names |
+| Road weather | Lufft MARWIS (serial 10722) | `kia_urban_2023-12` | `/LastValues` topic |
+| 2D lidar | Slamtec RPLIDAR A2 | `lidar_weather_tests_2019` | Goberville et al. 2020 |
+| Drive by wire | PolySync OSCC on the lab Kia Niro | `kia_urban_2023-12`, `radar_tests_2023-24` | Brown et al. 2022 |
+| LiDAR | Ouster OS1-64 Gen1, serial 991951000513 (IMU and metadata here; point clouds in the companion dataset) | `kia_urban_2023-12`, `radar_tests_2023-24` | sensor metadata |
+
+## Conventions
+
+Every camera stream comes with `NAME.frames.parquet`, giving per-frame bag time, header stamp and an MD5 of the original
+image bytes. Raw-image cameras are released as HEVC 4:4:4 at constant QP 13; JPEG cameras keep their original JPEGs,
+remuxed into MJPEG `.mkv` without re-encoding and verified frame for frame against the MD5s. Lossless FFV1 copies of the
+raw-image cameras are kept in the lab archive and are available on request. Other topics are in
+`sensors/<topic>.parquet`, one row per message, and each collection has a `SHA256SUMS`.
+
+The vehicle CAN bus (`/can_frame`) is released whole, every ID. The IDs documented by OSCC and opendbc are 0x2B0
+steering angle, 0x386 wheel speeds, 0x220 brake pressure, 0x371 accelerator and 0x52A vehicle speed. OSCC's own module
+traffic is there too; the other IDs are raw and undecoded. `can_scan.json` lists every ID seen with its frame count.
+
+## `kia_urban_2023-12`: six-camera urban drive on the lab Kia Niro
+
+One 27-minute drive on 2023-12-04 (1,612.6 s).
+
+* **Cameras:** six Basler cameras at about 15 fps, 24,189 to 24,190 frames each, the raw camera JPEGs remuxed unchanged
+  into `camera_0N.mjpeg.mkv`, with per-camera `camera_info`. The rectified streams stay in the archive bag.
+* **GNSS:** Piksi best fix and RTK float at about 1 Hz, plus the Piksi IMU.
+* **Ouster IMU** and `/tf`.
+* **Road condition:** MARWIS readings (dry, wet or damp).
+* **Speed:** the roscco `can_frame_speed` channel.
+* **CAN:** `/can_frame` has every ID seen (0xB9, 0x220, 0x2B0, 0x4B0).
+
+## `radar_tests_2023-24`: radar and camera test bags on the lab Kia
+
+Eight bags of 15 to 37 s each, recorded 2023-12-11 to 2024-03-27, 4.0 minutes in total.
+
+| Data | Bags | Form |
+|---|---|---|
+| Aptiv ESR tracks, status and raw radar-bus frames | 2023-12-11 and 2024-01-31 | `sensors/radar_1_*` |
+| Second radar's point clouds | 2024-02-15 and 2024-03-27 | `sensors/radar_*`: x, y, z, radial speed, RCS and SNR per point |
+| One Basler camera (raw RGB) | 6 of the bags | HEVC (lossless FFV1 in the archive), 1,787 frames |
+| roscco steering, brake and throttle reports, and the derived angle and speed channels | 2024-01-31 and 2024-02-15 | `sensors/` |
+| Piksi (few fixes) | | `sensors/` |
+
+The raw bags of the four 2024-01-31 recordings are also public in
+[`AD-Assurance-Lab/infrastructure-sensing-doe-eems116`](https://huggingface.co/datasets/AD-Assurance-Lab/infrastructure-sensing-doe-eems116)
+(radar retro-reflector tests, DOE award DE-EE0009657).
+
+## `radar_lidar_2020-21`: radar-only drives on the lab car
+
+* `2020-03-05-radar_lidar_highway` (134.4 s, highway): Aptiv ESR tracks, objects, status and the raw radar-bus frames
+  (`/can_tx`, `/can_rx`). Its Ouster point clouds are in the companion dataset (`highway_2020`).
+* `2021-01-07-radar_city` (40.9 s, city): Aptiv ESR objects only (`sensors/as_tx_objects.parquet`).
+
+## `zed2i_campus_2022-07`: ZED 2i summer campus drives
+
+| Drive | Date | Duration | Frames |
+|---|---|---|---|
+| `Engineering_Drive` | 2022-07-27 | 197.8 s | 2,887 |
+| `Campus_Drive_partial` | 2022-07-29 | 118.8 s | 1,753 |
+
+Both are ZED 2i left-camera colour at 1920×1080 and about 14.6 fps, with no GNSS, IMU or right eye.
+`Campus_Drive_partial` is the readable start of a recording whose file is damaged after 14.5 GB. The Trimble survey of
+the campus route (2022-07-28) is in the lab archive.
+
+## `lidar_weather_tests_2019`: 2D lidar in four weather conditions
+
+Thirteen static runs with a 2D lidar (`/scan`) aimed at a target at 5, 10 and 15 ft, in rain, cloudy, snowy and fair
+conditions, October-November 2019, including one failed fair run that is flagged as such. `runs.parquet` gives, per
+run, the condition, distance, duration and scan count, the mean number of finite returns per scan, and the authors'
+published "average hits" on the target (a different measure).
+
+## Privacy
+
+The cameras face outward. Pedestrians are small and distant; parked-car plates are legible in a few frames and are not
+blurred, as in the lab's winter-driving release.
+
+## Citation
+
+CC BY 4.0. Please cite the paper for the data you use:
+
+* **`lidar_weather_tests_2019`**: N. A. Goberville, M. El-Yabroudi, M. Omwanas, J. Rojas, R. Meyer, Z. Asher and
+  I. Abdel-Qader, "Analysis of LiDAR and Camera Data in Real-World Weather Conditions for Autonomous Vehicle
+  Operations," SAE Technical Paper 2020-01-0093, 2020, doi:10.4271/2020-01-0093.
+* **`zed2i_campus_2022-07`**: K. Carow, P. Kadav, J. Fanas Rojas and Z. Asher, "Projecting Lane Lines from Proxy
+  High-Definition Maps for Automated Vehicle Perception in Road Occlusion Scenarios," SAE Technical Paper 2023-01-0051,
+  2023, doi:10.4271/2023-01-0051 (the paper's campus route; `Engineering_Drive` is not in the paper).
+* **`radar_lidar_2020-21`** and the lab Kia Niro platform: N. E. Brown et al., "Development of an Energy Efficient and
+  Cost Effective Autonomous Vehicle Research Platform," *Sensors* 22(16):5999, 2022, doi:10.3390/s22165999. Related:
+  N. E. Brown et al., "Higher Accuracy and Lower Computational Perception Environment Based Upon a Real-time Dynamic
+  Region of Interest," SAE Technical Paper 2022-01-0078, doi:10.4271/2022-01-0078.
+* **`radar_tests_2023-24`**: related to N. E. Brown et al., "Real World Use Case Evaluation of Radar Retro-reflectors
+  for Autonomous Vehicle Lane Detection Applications," SAE Technical Paper 2024-01-2042, doi:10.4271/2024-01-2042.
+* **`kia_urban_2023-12`**: no paper yet; please cite this dataset.
+
+```bibtex
+@misc{wmu_lab_drives_2026,
+  title        = {{WMU AD Assurance Lab} drives, 2019-2024},
+  author       = {{AD Assurance Lab, Western Michigan University} and Asher, Zachary D.},
+  year         = {2026},
+  howpublished = {Hugging Face dataset},
+  url          = {https://huggingface.co/datasets/AD-Assurance-Lab/lab-drives}
+}
+```
+
+Contact: Zachary D. Asher, Western Michigan University, zach.asher@wmich.edu.

kia_urban_2023-12/2023-12-04-12-00-58/can_scan.json

@@ -0,0 +1,33 @@
+{
+ "ids_seen": {
+  "/can_frame (vehicle bus)": {
+   "0x220": 161240,
+   "0x2b0": 161259,
+   "0x4b0": 78789,
+   "0xb9": 80059
+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

kia_urban_2023-12/2023-12-04-12-00-58/source.json

@@ -0,0 +1,136 @@
+{
+ "source_bag": "2023-12-04-12-00-58_0_most_sensors_urban.bag",
+ "bytes": 104871281195,
+ "start_ns": 1701709258477663674,
+ "end_ns": 1701710871111611081,
+ "duration_s": 1612.63,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {
+  "camera_01": 24190,
+  "camera_04": 24190,
+  "camera_02": 24190,
+  "camera_06": 24190,
+  "camera_05": 24189,
+  "camera_03": 24189
+ },
+ "topics_in_bag": {
+  "/can_frame": [
+   "roscco/msg/CanFrame",
+   481347
+  ],
+  "/camera_01/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   24190
+  ],
+  "/camera_01/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24190
+  ],
+  "/camera_04/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   24190
+  ],
+  "/camera_01/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24190
+  ],
+  "/camera_04/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24190
+  ],
+  "/camera_02/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   24190
+  ],
+  "/camera_02/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24190
+  ],
+  "/camera_04/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24190
+  ],
+  "/can_frame_speed": [
+   "std_msgs/msg/Float32",
+   78788
+  ],
+  "/camera_06/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   24190
+  ],
+  "/camera_06/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24190
+  ],
+  "/camera_02/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24189
+  ],
+  "/camera_05/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   24189
+  ],
+  "/camera_05/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24189
+  ],
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   161245
+  ],
+  "/piksi_multi_base_station/imu": [
+   "sensor_msgs/msg/Imu",
+   163882
+  ],
+  "/camera_06/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24189
+  ],
+  "/camera_05/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24189
+  ],
+  "/piksi_multi_base_station/navsatfix_best_fix": [
+   "piksi_rtk_msgs/msg/WMUNavSatFix",
+   1725
+  ],
+  "/piksi_multi_base_station/navsatfix_rtk_float": [
+   "piksi_rtk_msgs/msg/WMUNavSatFix",
+   1717
+  ],
+  "/camera_03/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   24189
+  ],
+  "/camera_03/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24189
+  ],
+  "/camera_03/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   24189
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
+   32250
+  ],
+  "/ouster/points": [
+   "sensor_msgs/msg/PointCloud2",
+   16125
+  ],
+  "/LastValues": [
+   "marwis/msg/LastValues",
+   3232
+  ]
+ },
+ "topics_archive_only": {
+  "/camera_01/image_rect/compressed": 24190,
+  "/camera_04/image_rect/compressed": 24190,
+  "/camera_02/image_rect/compressed": 24189,
+  "/camera_06/image_rect/compressed": 24189,
+  "/camera_05/image_rect/compressed": 24189,
+  "/camera_03/image_rect/compressed": 24189,
+  "/ouster/points": 16125
+ }
+}

kia_urban_2023-12/SHA256SUMS

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lidar_weather_tests_2019/SHA256SUMS

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+711a177fb8821050cbeb9e395274185967c075cd08ae14c1bc4abaccf918b5da  ./fair_15ft_2019-11-01-09-19-21/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./fair_5ft_2019-11-01-09-15-21/can_scan.json
+0d0d2a7ea1a93343439c0b320ab5dbfbf9973fbcb8e1d110debb392b492bdfaf  ./fair_5ft_2019-11-01-09-15-21/sensors/scan.parquet
+fd254d22417904359ea4df77bc73d8b6d744540293624ec47efd4f192d2eb334  ./fair_5ft_2019-11-01-09-15-21/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./rain_10ft_2019-10-26-18-15-17/can_scan.json
+395e0e4e7b10959b8192ce822f081f9ed1b6fa94578458c652361be666d4fe5f  ./rain_10ft_2019-10-26-18-15-17/sensors/scan.parquet
+1d64ccd1ddc430b6d47fe4a66895b80a2e40b170fcb6e9b970821ee5fdda3d96  ./rain_10ft_2019-10-26-18-15-17/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./rain_15ft_2019-10-26-18-24-59/can_scan.json
+69c2c5fa567b3d722d937a89d2a6c32694854741de4507a09dc6783d27204d65  ./rain_15ft_2019-10-26-18-24-59/sensors/scan.parquet
+badc567c9b70ca6d125c3c6ebec7421fc0255892d200e0dfa752b947d43e6522  ./rain_15ft_2019-10-26-18-24-59/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./rain_5ft_2019-10-26-18-10-24/can_scan.json
+d4fa4697ef917408eed08e0ca7222b4aad1dbe02c1da9397df4dbf285bcfa4f9  ./rain_5ft_2019-10-26-18-10-24/sensors/scan.parquet
+79cf85530bc52421445d8ab9547e0e227154e36e025df0e92bb4d9c585e7386d  ./rain_5ft_2019-10-26-18-10-24/source.json
+9e85e3523f618e627870dd999c385a49f7e013484f15b54455e0ab85d75a145d  ./runs.parquet
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./snowy_10ft_2019-10-31-17-32-52/can_scan.json
+f456c6400348f0f8115107caa98e2a9d8699d64618471a768165da890bf48787  ./snowy_10ft_2019-10-31-17-32-52/sensors/scan.parquet
+4c6c43d9e50b512f669e074ccda7c349e2e2a533eee81b8c6ba146d5614a28b6  ./snowy_10ft_2019-10-31-17-32-52/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./snowy_15ft_2019-10-31-17-34-47/can_scan.json
+c5f55ecea4516814eff383c287d8f430a5aa8c4318cfe307ece5fd3cc4d992e9  ./snowy_15ft_2019-10-31-17-34-47/sensors/scan.parquet
+25f41ff87a7e468ce3961baa618022c9fdf163417695491fbb98fe95e20e0d4a  ./snowy_15ft_2019-10-31-17-34-47/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./snowy_5ft_2019-10-31-17-29-47/can_scan.json
+056e90775e80dbe4542a9dd6c1fff7b525dc017310bf97ebce933f5aa6bf005c  ./snowy_5ft_2019-10-31-17-29-47/sensors/scan.parquet
+c8b0dce88463ae08a82843123039f3fdd94cf5651861f73a44aff2367c62b37d  ./snowy_5ft_2019-10-31-17-29-47/source.json

lidar_weather_tests_2019/cloudy_15ft_2019-10-29-15-21-51/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/cloudy_15ft_2019-10-29-15-21-51/source.json

@@ -0,0 +1,23 @@
+{
+ "source_bag": "2019-10-29-15-21-51.bag",
+ "bytes": 1534403,
+ "start_ns": 1572376911654097192,
+ "end_ns": 1572376949763195350,
+ "duration_s": 38.11,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   506
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 6
+ }
+}

lidar_weather_tests_2019/cloudy_5ft_2019-10-29-15-18-37/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/cloudy_5ft_2019-10-29-15-18-37/source.json

@@ -0,0 +1,23 @@
+{
+ "source_bag": "2019-10-29-15-18-37.bag",
+ "bytes": 1447548,
+ "start_ns": 1572376717850028839,
+ "end_ns": 1572376753961172425,
+ "duration_s": 36.11,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   477
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 6
+ }
+}

lidar_weather_tests_2019/fair_10ft_2019-11-01-09-18-01/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/fair_10ft_2019-11-01-09-18-01/source.json

@@ -0,0 +1,28 @@
+{
+ "source_bag": "2019-11-01-09-18-01.bag",
+ "bytes": 1171275,
+ "start_ns": 1572614281977397418,
+ "end_ns": 1572614308367033346,
+ "duration_s": 26.39,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   337
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   337
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   337
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 343,
+  "/rosout_agg": 337
+ }
+}

lidar_weather_tests_2019/fair_10ft_fail_trial/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/fair_10ft_fail_trial/source.json

@@ -0,0 +1,28 @@
+{
+ "source_bag": "fail_trial.bag",
+ "bytes": 2771850,
+ "start_ns": 1572614195165938568,
+ "end_ns": 1572614258004472204,
+ "duration_s": 62.84,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   808
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   808
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   807
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 814,
+  "/rosout_agg": 808
+ }
+}

lidar_weather_tests_2019/fair_15ft_2019-11-01-09-19-21/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/fair_15ft_2019-11-01-09-19-21/source.json

@@ -0,0 +1,28 @@
+{
+ "source_bag": "2019-11-01-09-19-21.bag",
+ "bytes": 1518177,
+ "start_ns": 1572614361757929682,
+ "end_ns": 1572614396019471352,
+ "duration_s": 34.26,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   439
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   439
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   438
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 445,
+  "/rosout_agg": 438
+ }
+}

lidar_weather_tests_2019/fair_5ft_2019-11-01-09-15-21/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/fair_5ft_2019-11-01-09-15-21/source.json

@@ -0,0 +1,28 @@
+{
+ "source_bag": "2019-11-01-09-15-21.bag",
+ "bytes": 1314201,
+ "start_ns": 1572614121841114266,
+ "end_ns": 1572614151630625093,
+ "duration_s": 29.79,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   379
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   379
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   379
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 385,
+  "/rosout_agg": 379
+ }
+}

lidar_weather_tests_2019/rain_15ft_2019-10-26-18-24-59/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/rain_15ft_2019-10-26-18-24-59/source.json

@@ -0,0 +1,23 @@
+{
+ "source_bag": "2019-10-26-18-24-59.bag",
+ "bytes": 1741278,
+ "start_ns": 1572128699524729223,
+ "end_ns": 1572128743070328763,
+ "duration_s": 43.55,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   575
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 6
+ }
+}

lidar_weather_tests_2019/snowy_10ft_2019-10-31-17-32-52/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/snowy_10ft_2019-10-31-17-32-52/source.json

@@ -0,0 +1,23 @@
+{
+ "source_bag": "2019-10-31-17-32-52.bag",
+ "bytes": 1112108,
+ "start_ns": 1572557572897945166,
+ "end_ns": 1572557601097750737,
+ "duration_s": 28.2,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   365
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 6
+ }
+}

lidar_weather_tests_2019/snowy_15ft_2019-10-31-17-34-47/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

lidar_weather_tests_2019/snowy_15ft_2019-10-31-17-34-47/source.json

@@ -0,0 +1,23 @@
+{
+ "source_bag": "2019-10-31-17-34-47.bag",
+ "bytes": 1252873,
+ "start_ns": 1572557687773282547,
+ "end_ns": 1572557719615767287,
+ "duration_s": 31.84,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/scan": [
+   "sensor_msgs/msg/LaserScan",
+   412
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 6
+ }
+}

radar_lidar_2020-21/2020-03-05-radar_lidar_highway/can_scan.json

@@ -0,0 +1,115 @@
+{
+ "ids_seen": {
+  "/can_tx (sensor bus)": {
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+   "0x4e1": 2684,
+   "0x4e2": 2684,
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+   "0x50c": 2683,
+   "0x50d": 2683,
+   "0x50e": 2683,
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+   "0x510": 2683,
+   "0x511": 2683,
+   "0x512": 2683,
+   "0x513": 2683,
+   "0x514": 2683,
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+   "0x517": 2683,
+   "0x518": 2683,
+   "0x519": 2683,
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+   "0x51c": 2683,
+   "0x51d": 2683,
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+   "0x52c": 2683,
+   "0x52d": 2683,
+   "0x52e": 2683,
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+   "0x538": 2683,
+   "0x539": 2683,
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+   "0x53b": 2683,
+   "0x53c": 2683,
+   "0x53d": 2683,
+   "0x53e": 2683,
+   "0x53f": 2683,
+   "0x540": 26830,
+   "0x5d0": 2683,
+   "0x5d1": 2683,
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+   "0x5e5": 2683,
+   "0x5e6": 2683,
+   "0x5e7": 2683,
+   "0x5e8": 2683,
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+   "0x5ea": 2683,
+   "0x5eb": 2683,
+   "0x5ec": 2683,
+   "0x5ed": 2683,
+   "0x5ee": 2683,
+   "0x5ef": 2683
+  },
+  "/can_rx (sensor bus)": {
+   "0x4f1": 6708
+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_lidar_2020-21/2020-03-05-radar_lidar_highway/source.json

@@ -0,0 +1,124 @@
+{
+ "source_bag": "radar_lidar_highway.bag",
+ "bytes": 5427827691,
+ "start_ns": 1583425251942736597,
+ "end_ns": 1583425386290014932,
+ "duration_s": 134.35,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/as_tx/radar_markers": [
+   "visualization_msgs/msg/Marker",
+   36267
+  ],
+  "/as_tx/radar_tracks": [
+   "radar_msgs/msg/RadarTrackArray",
+   2684
+  ],
+  "/parsed_tx/radarstatus5": [
+   "delphi_esr_msgs/msg/EsrStatus5",
+   2684
+  ],
+  "/parsed_tx/radarstatus6": [
+   "delphi_esr_msgs/msg/EsrStatus6",
+   2684
+  ],
+  "/parsed_tx/radarstatus8": [
+   "delphi_esr_msgs/msg/EsrStatus8",
+   2684
+  ],
+  "/parsed_tx/radarstatus7": [
+   "delphi_esr_msgs/msg/EsrStatus7",
+   2684
+  ],
+  "/parsed_tx/radarstatus9": [
+   "delphi_esr_msgs/msg/EsrStatus9",
+   2684
+  ],
+  "/os1_cloud_node/points": [
+   "sensor_msgs/msg/PointCloud2",
+   1342
+  ],
+  "/tf_static": [
+   "tf2_msgs/msg/TFMessage",
+   1
+  ],
+  "/os1_node/imu_packets": [
+   "ouster_ros/msg/PacketMsg",
+   13415
+  ],
+  "/os1_node/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   85856
+  ],
+  "/os1_cloud_node/imu": [
+   "sensor_msgs/msg/Imu",
+   13414
+  ],
+  "/can_tx": [
+   "can_msgs/msg/Frame",
+   246841
+  ],
+  "/parsed_tx/radarstatus1": [
+   "delphi_esr_msgs/msg/EsrStatus1",
+   2684
+  ],
+  "/parsed_tx/radarstatus2": [
+   "delphi_esr_msgs/msg/EsrStatus2",
+   2684
+  ],
+  "/parsed_tx/radarstatus3": [
+   "delphi_esr_msgs/msg/EsrStatus3",
+   2684
+  ],
+  "/parsed_tx/radarstatus4": [
+   "delphi_esr_msgs/msg/EsrStatus4",
+   2684
+  ],
+  "/parsed_tx/radartrack": [
+   "delphi_esr_msgs/msg/EsrTrack",
+   56571
+  ],
+  "/as_tx/radar_status": [
+   "radar_msgs/msg/RadarStatus",
+   2684
+  ],
+  "/as_tx/radar_error_status": [
+   "radar_msgs/msg/RadarErrorStatus",
+   2684
+  ],
+  "/can_rx": [
+   "can_msgs/msg/Frame",
+   6708
+  ],
+  "/parsed_tx/trackmotionpower": [
+   "delphi_esr_msgs/msg/EsrTrackMotionPower",
+   19134
+  ],
+  "/as_tx/objects": [
+   "derived_object_msgs/msg/ObjectWithCovarianceArray",
+   2683
+  ],
+  "/parsed_tx/radarvalid1": [
+   "delphi_esr_msgs/msg/EsrValid1",
+   2683
+  ],
+  "/parsed_tx/radarvalid2": [
+   "delphi_esr_msgs/msg/EsrValid2",
+   2683
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 14,
+  "/as_tx/radar_markers": 36267,
+  "/os1_cloud_node/points": 1342,
+  "/os1_node/imu_packets": 13415,
+  "/os1_node/lidar_packets": 85856,
+  "/os1_cloud_node/imu": 13414
+ }
+}

radar_lidar_2020-21/2021-01-07-radar_city/can_scan.json

@@ -0,0 +1,26 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_lidar_2020-21/2021-01-07-radar_city/source.json

@@ -0,0 +1,17 @@
+{
+ "source_bag": "2021-01-07-14-24-58.bag",
+ "bytes": 23826550,
+ "start_ns": 1610047730570336814,
+ "end_ns": 1610047771472979659,
+ "duration_s": 40.9,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/as_tx/objects": [
+   "derived_object_msgs/msg/ObjectWithCovarianceArray",
+   819
+  ]
+ },
+ "topics_archive_only": {}
+}

radar_lidar_2020-21/SHA256SUMS

@@ -0,0 +1,25 @@
+9f1da587171ff17962c6392cf6b494f8161bcd1b729ab03468320f9b48866d6c  ./2020-03-05-radar_lidar_highway/can_scan.json
+36a62e5fd50bca80e52610eddc47322d34b5c734e043f1a55ea7262dac6f00c4  ./2020-03-05-radar_lidar_highway/sensors/as_tx_objects.parquet
+780940cb33bab328277105e28a7c0399f571a74833e72201021ec940373af386  ./2020-03-05-radar_lidar_highway/sensors/as_tx_radar_error_status.parquet
+4745607c53fde820915fad6bc0796c294eb860232a9537093272acdc6a2cf602  ./2020-03-05-radar_lidar_highway/sensors/as_tx_radar_status.parquet
+5ef62c07231783c37ab6d1b10f8d1c26567d39195edfe938afc203ff32c0ce37  ./2020-03-05-radar_lidar_highway/sensors/as_tx_radar_tracks.parquet
+e54df08ef1d373e0a5f869946bef942d297756eaac0c28ce82e677d6bc166659  ./2020-03-05-radar_lidar_highway/sensors/can_rx.parquet
+338595e1d79806d6d4941e776b19a4539171abe817aa17cdeb7884cea3036204  ./2020-03-05-radar_lidar_highway/sensors/can_tx.parquet
+7b40ffc8acea453cfa0258158cee57c23c2eb33bcd62845eb19ea0790f0f30d0  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus1.parquet
+4534e71ff1994866adb9dc2fd6db69e4c35ffbc93cd7a40fc624c8b9f9f844ea  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus2.parquet
+2454e7af6f73e6cd576a05e08782dcecf639326741a2c71500bf853822b09eff  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus3.parquet
+172af4af4e307f0f9b00776b531986face996592a50e72baa1c967413f2c59a1  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus4.parquet
+19a254c6e23f5705662247771fc669f371bb70e18d8ce3776b562f70784bc3fd  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus5.parquet
+a4e2383bbd40cff25ab5e341bba3ac1afed6efbac4c45b958cac5130318a5486  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus6.parquet
+1959c633192fda3991bad3e0ff2386b9bcaac893c9771d3f987da26d76579e94  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus7.parquet
+34519b74b5ba7b61a23ef1cfced2538b3b5e58db4dc399fcf3e85420108b0fb8  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus8.parquet
+7d3394910b2dd42779b325550415b0d71840d1240a1ae40ebc6eb371076f73a5  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarstatus9.parquet
+447cd82caf2824e125210077cfe072c204c0d3aefbfc076d289858f07db2f124  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radartrack.parquet
+27f52aefbff8c7930f065e295803bda238cd3a3611ef77c296dca45b1ad9ecc4  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarvalid1.parquet
+874f4e81259fadd1a3ce5140b5b57b8c7fed9d3d9722e432131f2a23282043a9  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_radarvalid2.parquet
+a4bbf56431eca56565191dc2dccc2e1dcf967bcb65ea656f5c57dca40ff22ed5  ./2020-03-05-radar_lidar_highway/sensors/parsed_tx_trackmotionpower.parquet
+35c34a0736fdec4b2690b277495ff8e070eb59e68ccbba0f630b8cb5f4a190bb  ./2020-03-05-radar_lidar_highway/sensors/tf_static.parquet
+7a12067658bf8fba3baaaa8393457304622ea6c283b51d8ba73f4c133cedd1ca  ./2020-03-05-radar_lidar_highway/source.json
+d4322f1c9be8729b544c0fde9093b9d3206c1b95eee1d592f6a6bfbcbea7d581  ./2021-01-07-radar_city/can_scan.json
+fb0fd9c65c7583c8753bda72adc67f362c4bb623ff28628eebc5915645a347ba  ./2021-01-07-radar_city/sensors/as_tx_objects.parquet
+1e436a4aab888c06a19b85bfd1c95940a5d1d71db22f6a49d8455db9c0a02810  ./2021-01-07-radar_city/source.json

radar_tests_2023-24/2023-12-11-13-10-55/can_scan.json

@@ -0,0 +1,115 @@
+{
+ "ids_seen": {
+  "/radar_1/can_rx (sensor bus)": {
+   "0x4f1": 1571
+  },
+  "/radar_1/can_tx (sensor bus)": {
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+   "0x5ec": 628,
+   "0x5ed": 628,
+   "0x5ee": 628,
+   "0x5ef": 628
+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2023-12-11-13-10-55/source.json

@@ -0,0 +1,144 @@
+{
+ "source_bag": "2023-12-11-13-10-55.bag",
+ "bytes": 1426562274,
+ "start_ns": 1702318255600150847,
+ "end_ns": 1702318287277680140,
+ "duration_s": 31.68,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   33
+  ],
+  "/radar_1/can_rx": [
+   "can_msgs/msg/Frame",
+   1571
+  ],
+  "/ouster/metadata": [
+   "std_msgs/msg/String",
+   1
+  ],
+  "/ouster/imu_packets": [
+   "ouster_ros/msg/PacketMsg",
+   3140
+  ],
+  "/ouster/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   20099
+  ],
+  "/radar_1/can_tx": [
+   "can_msgs/msg/Frame",
+   57776
+  ],
+  "/radar_1/esr_status_1": [
+   "delphi_esr_msgs/msg/EsrStatus1",
+   628
+  ],
+  "/radar_1/esr_status_2": [
+   "delphi_esr_msgs/msg/EsrStatus2",
+   628
+  ],
+  "/radar_1/esr_status_3": [
+   "delphi_esr_msgs/msg/EsrStatus3",
+   628
+  ],
+  "/radar_1/esr_status_4": [
+   "delphi_esr_msgs/msg/EsrStatus4",
+   628
+  ],
+  "/radar_1/esr_track": [
+   "delphi_esr_msgs/msg/EsrTrack",
+   5241
+  ],
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   3139
+  ],
+  "/radar_1/objects": [
+   "derived_object_msgs/msg/ObjectWithCovarianceArray",
+   628
+  ],
+  "/radar_1/radar_tracks": [
+   "radar_msgs/msg/RadarTracks",
+   628
+  ],
+  "/radar_1/esr_track_motion_power_group": [
+   "delphi_esr_msgs/msg/EsrTrackMotionPowerGroup",
+   6280
+  ],
+  "/radar_1/esr_valid_1": [
+   "delphi_esr_msgs/msg/EsrValid1",
+   628
+  ],
+  "/radar_1/esr_valid_2": [
+   "delphi_esr_msgs/msg/EsrValid2",
+   628
+  ],
+  "/radar_1/can_viz_markers": [
+   "visualization_msgs/msg/MarkerArray",
+   1256
+  ],
+  "/radar_1/esr_status_5": [
+   "delphi_esr_msgs/msg/EsrStatus5",
+   628
+  ],
+  "/radar_1/esr_status_6": [
+   "delphi_esr_msgs/msg/EsrStatus6",
+   628
+  ],
+  "/radar_1/esr_status_7": [
+   "delphi_esr_msgs/msg/EsrStatus7",
+   628
+  ],
+  "/radar_1/esr_status_8": [
+   "delphi_esr_msgs/msg/EsrStatus8",
+   628
+  ],
+  "/radar_1/esr_status_9": [
+   "delphi_esr_msgs/msg/EsrStatus9",
+   628
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
+   628
+  ],
+  "/ouster/nearir_image": [
+   "sensor_msgs/msg/Image",
+   314
+  ],
+  "/ouster/signal_image": [
+   "sensor_msgs/msg/Image",
+   314
+  ],
+  "/ouster/range_image": [
+   "sensor_msgs/msg/Image",
+   314
+  ],
+  "/ouster/reflec_image": [
+   "sensor_msgs/msg/Image",
+   314
+  ],
+  "/ouster/points": [
+   "sensor_msgs/msg/PointCloud2",
+   314
+  ],
+  "/ouster/os_nodelet_mgr/bond": [
+   "bond/msg/Status",
+   31
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 33,
+  "/ouster/imu_packets": 3140,
+  "/ouster/lidar_packets": 20099,
+  "/radar_1/can_viz_markers": 1256,
+  "/ouster/nearir_image": 314,
+  "/ouster/signal_image": 314,
+  "/ouster/range_image": 314,
+  "/ouster/reflec_image": 314,
+  "/ouster/points": 314,
+  "/ouster/os_nodelet_mgr/bond": 186
+ }
+}

radar_tests_2023-24/2024-01-31-15-23-35/can_scan.json

@@ -0,0 +1,121 @@
+{
+ "ids_seen": {
+  "/radar_1/can_tx (sensor bus)": {
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+   "0x5ed": 720,
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+  },
+  "/can_frame (vehicle bus)": {
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+   "0x2b0": 3596,
+   "0x4b0": 906,
+   "0xb9": 1782
+  },
+  "/radar_1/can_rx (sensor bus)": {
+   "0x4f1": 1798
+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-01-31-15-23-35/source.json

@@ -0,0 +1,364 @@
+{
+ "source_bag": "2024-01-31-15-23-35.bag",
+ "bytes": 5177396130,
+ "start_ns": 1706732615620318666,
+ "end_ns": 1706732651724216604,
+ "duration_s": 36.1,
+ "nominal_fps": "10",
+ "hevc_qp": "13",
+ "frames": {
+  "camera_01": 367
+ },
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   734
+  ],
+  "/radar_1/can_tx": [
+   "can_msgs/msg/Frame",
+   66172
+  ],
+  "/can_frame": [
+   "roscco/msg/CanFrame",
+   8259
+  ],
+  "/can_frame_angle": [
+   "std_msgs/msg/Float32",
+   3595
+  ],
+  "/radar_1/can_rx": [
+   "can_msgs/msg/Frame",
+   1798
+  ],
+  "/brake_report": [
+   "roscco/msg/BrakeReport",
+   1798
+  ],
+  "/ouster/metadata": [
+   "std_msgs/msg/String",
+   1
+  ],
+  "/ouster/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   23000
+  ],
+  "/throttle_report": [
+   "roscco/msg/ThrottleReport",
+   1798
+  ],
+  "/steering_report": [
+   "roscco/msg/SteeringReport",
+   1798
+  ],
+  "/ouster/imu_packets": [
+   "ouster_ros/msg/PacketMsg",
+   3593
+  ],
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   3593
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/radar_1/esr_status_1": [
+   "delphi_esr_msgs/msg/EsrStatus1",
+   719
+  ],
+  "/radar_1/esr_status_2": [
+   "delphi_esr_msgs/msg/EsrStatus2",
+   719
+  ],
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+   "radar_msgs/msg/RadarTracks",
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+   719
+  ],
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+   "delphi_esr_msgs/msg/EsrTrackMotionPowerGroup",
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+   "delphi_esr_msgs/msg/EsrValid1",
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+   "delphi_esr_msgs/msg/EsrValid2",
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+   "delphi_esr_msgs/msg/EsrStatus5",
+   719
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+   "delphi_esr_msgs/msg/EsrStatus7",
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+   "delphi_esr_msgs/msg/EsrStatus8",
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+   1
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+  ],
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+   1
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+   "dynamic_reconfigure/msg/Config",
+   1
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+   367
+  ],
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+  "/ouster/os_nodelet_mgr/bond": 216,
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+ }
+}

radar_tests_2023-24/2024-01-31-15-25-40/can_scan.json

@@ -0,0 +1,121 @@
+{
+ "ids_seen": {
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+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-01-31-15-25-40/source.json

@@ -0,0 +1,364 @@
+{
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+ "bytes": 4769869147,
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+   1
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+   "delphi_esr_msgs/msg/EsrStatus2",
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+   "delphi_esr_msgs/msg/EsrStatus3",
+   669
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+   "delphi_esr_msgs/msg/EsrStatus4",
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+   "derived_object_msgs/msg/ObjectWithCovarianceArray",
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+   "delphi_esr_msgs/msg/EsrValid2",
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+   "delphi_esr_msgs/msg/EsrStatus8",
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+   1
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+  ],
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+  ],
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+   "sensor_msgs/msg/PointCloud2",
+   334
+  ],
+  "/camera_01/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   335
+  ],
+  "/camera_01/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   335
+  ],
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+   "piksi_rtk_msgs/msg/GpsTimeMulti",
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+   "piksi_rtk_msgs/msg/UtcTimeMulti",
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+  "/piksi_multi_base_station/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
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+  ],
+  "/camera_01/image_rect": [
+   "sensor_msgs/msg/Image",
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+  ],
+  "/piksi_multi_base_station/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
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+  ],
+  "/piksi_multi_base_station/imu": [
+   "sensor_msgs/msg/Imu",
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+  ],
+  "/piksi_multi_base_station/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
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+  ],
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+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   333
+  ],
+  "/ouster/os_nodelet_mgr/bond": [
+   "bond/msg/Status",
+   33
+  ],
+  "/piksi/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   67
+  ],
+  "/piksi/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   100
+  ],
+  "/piksi/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   67
+  ],
+  "/piksi/imu": [
+   "sensor_msgs/msg/Imu",
+   67
+  ],
+  "/piksi_multi_base_station/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   33
+  ],
+  "/piksi_multi_base_station/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   11
+  ],
+  "/piksi/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   33
+  ],
+  "/diagnostics": [
+   "diagnostic_msgs/msg/DiagnosticArray",
+   16
+  ],
+  "/piksi/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   11
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+ },
+ "topics_archive_only": {
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+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": 1,
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+  "/camera_01/image_raw/compressed/parameter_descriptions": 1,
+  "/camera_01/image_raw/compressed/parameter_updates": 1,
+  "/camera_01/image_raw/theora": 338,
+  "/camera_01/image_raw/theora/parameter_descriptions": 1,
+  "/camera_01/image_raw/theora/parameter_updates": 1,
+  "/pylon_camera_node/status": 336,
+  "/radar_1/can_viz_markers": 1336,
+  "/rosout_agg": 671,
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+  "/camera_01/grab_images_raw/status": 168,
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_rect/compressed/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressed/parameter_updates": 1,
+  "/camera_01/image_rect/theora": 338,
+  "/camera_01/image_rect/theora/parameter_descriptions": 1,
+  "/camera_01/image_rect/theora/parameter_updates": 1,
+  "/camera_01/grab_images_rect/status": 168,
+  "/ouster/reflec_image": 334,
+  "/ouster/nearir_image": 334,
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+  "/ouster/range_image": 334,
+  "/ouster/points": 334,
+  "/camera_01/image_rect/compressed": 335,
+  "/camera_01/image_rect": 335,
+  "/ouster/os_nodelet_mgr/bond": 200,
+  "/diagnostics": 16
+ }
+}

radar_tests_2023-24/2024-01-31-15-28-07/can_scan.json

@@ -0,0 +1,121 @@
+{
+ "ids_seen": {
+  "/radar_1/can_rx (sensor bus)": {
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+  },
+  "/radar_1/can_tx (sensor bus)": {
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+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-01-31-15-28-07/source.json

@@ -0,0 +1,364 @@
+{
+ "source_bag": "2024-01-31-15-28-07.bag",
+ "bytes": 2201843932,
+ "start_ns": 1706732887292722089,
+ "end_ns": 1706732902395462250,
+ "duration_s": 15.1,
+ "nominal_fps": "10",
+ "hevc_qp": "13",
+ "frames": {
+  "camera_01": 158
+ },
+ "topics_in_bag": {
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+   "rosgraph_msgs/msg/Log",
+   315
+  ],
+  "/radar_1/can_rx": [
+   "can_msgs/msg/Frame",
+   751
+  ],
+  "/can_frame_angle": [
+   "std_msgs/msg/Float32",
+   1500
+  ],
+  "/radar_1/can_tx": [
+   "can_msgs/msg/Frame",
+   27600
+  ],
+  "/radar_1/esr_status_1": [
+   "delphi_esr_msgs/msg/EsrStatus1",
+   300
+  ],
+  "/radar_1/esr_status_3": [
+   "delphi_esr_msgs/msg/EsrStatus3",
+   300
+  ],
+  "/radar_1/esr_status_2": [
+   "delphi_esr_msgs/msg/EsrStatus2",
+   300
+  ],
+  "/radar_1/esr_status_4": [
+   "delphi_esr_msgs/msg/EsrStatus4",
+   300
+  ],
+  "/brake_report": [
+   "roscco/msg/BrakeReport",
+   750
+  ],
+  "/can_frame": [
+   "roscco/msg/CanFrame",
+   3384
+  ],
+  "/radar_1/esr_track": [
+   "delphi_esr_msgs/msg/EsrTrack",
+   7554
+  ],
+  "/ouster/metadata": [
+   "std_msgs/msg/String",
+   1
+  ],
+  "/steering_report": [
+   "roscco/msg/SteeringReport",
+   750
+  ],
+  "/radar_1/objects": [
+   "derived_object_msgs/msg/ObjectWithCovarianceArray",
+   300
+  ],
+  "/radar_1/radar_tracks": [
+   "radar_msgs/msg/RadarTracks",
+   300
+  ],
+  "/throttle_report": [
+   "roscco/msg/ThrottleReport",
+   750
+  ],
+  "/ouster/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   9586
+  ],
+  "/radar_1/esr_track_motion_power_group": [
+   "delphi_esr_msgs/msg/EsrTrackMotionPowerGroup",
+   3000
+  ],
+  "/ouster/imu_packets": [
+   "ouster_ros/msg/PacketMsg",
+   1498
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+  "/radar_1/esr_valid_2": [
+   "delphi_esr_msgs/msg/EsrValid2",
+   300
+  ],
+  "/radar_1/esr_valid_1": [
+   "delphi_esr_msgs/msg/EsrValid1",
+   300
+  ],
+  "/radar_1/can_viz_markers": [
+   "visualization_msgs/msg/MarkerArray",
+   600
+  ],
+  "/radar_1/esr_status_5": [
+   "delphi_esr_msgs/msg/EsrStatus5",
+   300
+  ],
+  "/radar_1/esr_status_6": [
+   "delphi_esr_msgs/msg/EsrStatus6",
+   300
+  ],
+  "/radar_1/esr_status_7": [
+   "delphi_esr_msgs/msg/EsrStatus7",
+   300
+  ],
+  "/radar_1/esr_status_8": [
+   "delphi_esr_msgs/msg/EsrStatus8",
+   300
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/radar_1/esr_status_9": [
+   "delphi_esr_msgs/msg/EsrStatus9",
+   300
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/theora": [
+   "theora_image_transport/msg/Packet",
+   160
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
+   300
+  ],
+  "/camera_01/image_raw/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/ouster/nearir_image": [
+   "sensor_msgs/msg/Image",
+   150
+  ],
+  "/ouster/range_image": [
+   "sensor_msgs/msg/Image",
+   150
+  ],
+  "/ouster/signal_image": [
+   "sensor_msgs/msg/Image",
+   150
+  ],
+  "/ouster/reflec_image": [
+   "sensor_msgs/msg/Image",
+   150
+  ],
+  "/ouster/points": [
+   "sensor_msgs/msg/PointCloud2",
+   150
+  ],
+  "/pylon_camera_node/status": [
+   "dnb_msgs/msg/ComponentStatus",
+   158
+  ],
+  "/pylon_camera_node/currentParams": [
+   "camera_control_msgs/msg/currentParams",
+   158
+  ],
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   1497
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   314
+  ],
+  "/camera_01/grab_images_raw/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   76
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
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+  "/camera_01/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   158
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+  "/camera_01/image_rect/theora": [
+   "theora_image_transport/msg/Packet",
+   160
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+  "/camera_01/image_rect/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/grab_images_rect/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   76
+  ],
+  "/camera_01/image_raw": [
+   "sensor_msgs/msg/Image",
+   158
+  ],
+  "/can_frame_speed": [
+   "std_msgs/msg/Float32",
+   314
+  ],
+  "/camera_01/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   157
+  ],
+  "/piksi_multi_base_station/gps_time": [
+   "piksi_rtk_msgs/msg/GpsTimeMulti",
+   149
+  ],
+  "/camera_01/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   157
+  ],
+  "/camera_01/image_rect": [
+   "sensor_msgs/msg/Image",
+   157
+  ],
+  "/piksi_multi_base_station/utc_time": [
+   "piksi_rtk_msgs/msg/UtcTimeMulti",
+   149
+  ],
+  "/piksi_multi_base_station/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   149
+  ],
+  "/piksi_multi_base_station/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   31
+  ],
+  "/piksi_multi_base_station/imu": [
+   "sensor_msgs/msg/Imu",
+   31
+  ],
+  "/piksi/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   44
+  ],
+  "/piksi/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   15
+  ],
+  "/piksi/utc_time": [
+   "piksi_rtk_msgs/msg/UtcTimeMulti",
+   148
+  ],
+  "/piksi/gps_time": [
+   "piksi_rtk_msgs/msg/GpsTimeMulti",
+   148
+  ],
+  "/piksi/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   148
+  ],
+  "/piksi/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   30
+  ],
+  "/piksi/imu": [
+   "sensor_msgs/msg/Imu",
+   30
+  ],
+  "/ouster/os_nodelet_mgr/bond": [
+   "bond/msg/Status",
+   15
+  ],
+  "/piksi_multi_base_station/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   45
+  ],
+  "/piksi_multi_base_station/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   30
+  ],
+  "/piksi/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   29
+  ],
+  "/diagnostics": [
+   "diagnostic_msgs/msg/DiagnosticArray",
+   8
+  ],
+  "/piksi_multi_base_station/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   15
+  ],
+  "/piksi_multi_base_station/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   5
+  ],
+  "/piksi/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   5
+  ]
+ },
+ "topics_archive_only": {
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+  "/radar_1/can_viz_markers": 600,
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+  "/camera_01/image_raw/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_raw/compressed/parameter_descriptions": 1,
+  "/camera_01/image_raw/compressed/parameter_updates": 1,
+  "/camera_01/image_raw/theora": 160,
+  "/camera_01/image_raw/theora/parameter_descriptions": 1,
+  "/camera_01/image_raw/theora/parameter_updates": 1,
+  "/ouster/nearir_image": 150,
+  "/ouster/range_image": 150,
+  "/ouster/signal_image": 150,
+  "/ouster/reflec_image": 150,
+  "/ouster/points": 150,
+  "/pylon_camera_node/status": 158,
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+  "/camera_01/grab_images_raw/status": 76,
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_rect/compressed/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressed/parameter_updates": 1,
+  "/camera_01/image_raw/compressed": 158,
+  "/camera_01/image_rect/theora": 160,
+  "/camera_01/image_rect/theora/parameter_descriptions": 1,
+  "/camera_01/image_rect/theora/parameter_updates": 1,
+  "/camera_01/grab_images_rect/status": 76,
+  "/camera_01/image_rect/compressed": 157,
+  "/camera_01/image_rect": 157,
+  "/ouster/os_nodelet_mgr/bond": 90,
+  "/diagnostics": 8
+ }
+}

radar_tests_2023-24/2024-01-31-15-30-24/can_scan.json

@@ -0,0 +1,121 @@
+{
+ "ids_seen": {
+  "/can_frame (vehicle bus)": {
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+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-01-31-15-30-24/source.json

@@ -0,0 +1,364 @@
+{
+ "source_bag": "2024-01-31-15-30-24.bag",
+ "bytes": 5294840865,
+ "start_ns": 1706733024478100995,
+ "end_ns": 1706733061466617692,
+ "duration_s": 36.99,
+ "nominal_fps": "10",
+ "hevc_qp": "13",
+ "frames": {
+  "camera_01": 376
+ },
+ "topics_in_bag": {
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+   "rosgraph_msgs/msg/Log",
+   750
+  ],
+  "/throttle_report": [
+   "roscco/msg/ThrottleReport",
+   1848
+  ],
+  "/brake_report": [
+   "roscco/msg/BrakeReport",
+   1847
+  ],
+  "/can_frame": [
+   "roscco/msg/CanFrame",
+   8577
+  ],
+  "/can_frame_speed": [
+   "std_msgs/msg/Float32",
+   1148
+  ],
+  "/ouster/metadata": [
+   "std_msgs/msg/String",
+   1
+  ],
+  "/can_frame_angle": [
+   "std_msgs/msg/Float32",
+   3692
+  ],
+  "/steering_report": [
+   "roscco/msg/SteeringReport",
+   1847
+  ],
+  "/radar_1/can_tx": [
+   "can_msgs/msg/Frame",
+   67955
+  ],
+  "/radar_1/esr_status_1": [
+   "delphi_esr_msgs/msg/EsrStatus1",
+   739
+  ],
+  "/ouster/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   23626
+  ],
+  "/radar_1/esr_status_2": [
+   "delphi_esr_msgs/msg/EsrStatus2",
+   739
+  ],
+  "/radar_1/esr_status_3": [
+   "delphi_esr_msgs/msg/EsrStatus3",
+   739
+  ],
+  "/radar_1/esr_status_4": [
+   "delphi_esr_msgs/msg/EsrStatus4",
+   739
+  ],
+  "/radar_1/esr_track": [
+   "delphi_esr_msgs/msg/EsrTrack",
+   11145
+  ],
+  "/radar_1/can_rx": [
+   "can_msgs/msg/Frame",
+   1846
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/theora": [
+   "theora_image_transport/msg/Packet",
+   378
+  ],
+  "/camera_01/image_raw/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/ouster/imu_packets": [
+   "ouster_ros/msg/PacketMsg",
+   3691
+  ],
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   3691
+  ],
+  "/pylon_camera_node/status": [
+   "dnb_msgs/msg/ComponentStatus",
+   376
+  ],
+  "/pylon_camera_node/currentParams": [
+   "camera_control_msgs/msg/currentParams",
+   376
+  ],
+  "/camera_01/grab_images_raw/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   185
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/radar_1/radar_tracks": [
+   "radar_msgs/msg/RadarTracks",
+   738
+  ],
+  "/radar_1/objects": [
+   "derived_object_msgs/msg/ObjectWithCovarianceArray",
+   738
+  ],
+  "/radar_1/esr_track_motion_power_group": [
+   "delphi_esr_msgs/msg/EsrTrackMotionPowerGroup",
+   7380
+  ],
+  "/radar_1/esr_valid_1": [
+   "delphi_esr_msgs/msg/EsrValid1",
+   738
+  ],
+  "/radar_1/esr_valid_2": [
+   "delphi_esr_msgs/msg/EsrValid2",
+   738
+  ],
+  "/radar_1/can_viz_markers": [
+   "visualization_msgs/msg/MarkerArray",
+   1476
+  ],
+  "/radar_1/esr_status_5": [
+   "delphi_esr_msgs/msg/EsrStatus5",
+   738
+  ],
+  "/radar_1/esr_status_6": [
+   "delphi_esr_msgs/msg/EsrStatus6",
+   738
+  ],
+  "/radar_1/esr_status_7": [
+   "delphi_esr_msgs/msg/EsrStatus7",
+   738
+  ],
+  "/radar_1/esr_status_8": [
+   "delphi_esr_msgs/msg/EsrStatus8",
+   738
+  ],
+  "/radar_1/esr_status_9": [
+   "delphi_esr_msgs/msg/EsrStatus9",
+   738
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   750
+  ],
+  "/camera_01/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   376
+  ],
+  "/camera_01/image_raw": [
+   "sensor_msgs/msg/Image",
+   376
+  ],
+  "/camera_01/image_rect/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/theora": [
+   "theora_image_transport/msg/Packet",
+   378
+  ],
+  "/camera_01/image_rect/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/grab_images_rect/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   185
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
+   738
+  ],
+  "/ouster/nearir_image": [
+   "sensor_msgs/msg/Image",
+   369
+  ],
+  "/ouster/points": [
+   "sensor_msgs/msg/PointCloud2",
+   369
+  ],
+  "/ouster/range_image": [
+   "sensor_msgs/msg/Image",
+   369
+  ],
+  "/ouster/signal_image": [
+   "sensor_msgs/msg/Image",
+   369
+  ],
+  "/ouster/reflec_image": [
+   "sensor_msgs/msg/Image",
+   369
+  ],
+  "/piksi/utc_time": [
+   "piksi_rtk_msgs/msg/UtcTimeMulti",
+   369
+  ],
+  "/piksi/gps_time": [
+   "piksi_rtk_msgs/msg/GpsTimeMulti",
+   369
+  ],
+  "/piksi/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   369
+  ],
+  "/piksi/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   37
+  ],
+  "/piksi/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   111
+  ],
+  "/camera_01/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   375
+  ],
+  "/camera_01/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   375
+  ],
+  "/camera_01/image_rect": [
+   "sensor_msgs/msg/Image",
+   375
+  ],
+  "/piksi/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   13
+  ],
+  "/ouster/os_nodelet_mgr/bond": [
+   "bond/msg/Status",
+   37
+  ],
+  "/piksi/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   74
+  ],
+  "/piksi_multi_base_station/gps_time": [
+   "piksi_rtk_msgs/msg/GpsTimeMulti",
+   367
+  ],
+  "/piksi_multi_base_station/utc_time": [
+   "piksi_rtk_msgs/msg/UtcTimeMulti",
+   367
+  ],
+  "/piksi_multi_base_station/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   367
+  ],
+  "/piksi_multi_base_station/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   75
+  ],
+  "/piksi_multi_base_station/imu": [
+   "sensor_msgs/msg/Imu",
+   75
+  ],
+  "/piksi/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   74
+  ],
+  "/piksi/imu": [
+   "sensor_msgs/msg/Imu",
+   74
+  ],
+  "/piksi_multi_base_station/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   73
+  ],
+  "/piksi_multi_base_station/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   110
+  ],
+  "/piksi_multi_base_station/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   37
+  ],
+  "/diagnostics": [
+   "diagnostic_msgs/msg/DiagnosticArray",
+   18
+  ],
+  "/piksi_multi_base_station/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   12
+  ]
+ },
+ "topics_archive_only": {
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+  "/camera_01/image_raw/theora": 378,
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+  "/camera_01/image_raw/theora/parameter_updates": 1,
+  "/ouster/imu_packets": 3691,
+  "/pylon_camera_node/status": 376,
+  "/camera_01/grab_images_raw/status": 185,
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_rect/compressed/parameter_descriptions": 1,
+  "/radar_1/can_viz_markers": 1476,
+  "/rosout_agg": 750,
+  "/camera_01/image_raw/compressed": 376,
+  "/camera_01/image_rect/compressed/parameter_updates": 1,
+  "/camera_01/image_rect/theora": 378,
+  "/camera_01/image_rect/theora/parameter_descriptions": 1,
+  "/camera_01/image_rect/theora/parameter_updates": 1,
+  "/camera_01/grab_images_rect/status": 185,
+  "/ouster/nearir_image": 369,
+  "/ouster/points": 369,
+  "/ouster/range_image": 369,
+  "/ouster/signal_image": 369,
+  "/ouster/reflec_image": 369,
+  "/camera_01/image_rect/compressed": 375,
+  "/camera_01/image_rect": 375,
+  "/ouster/os_nodelet_mgr/bond": 222,
+  "/diagnostics": 18
+ }
+}

radar_tests_2023-24/2024-02-15-14-34-19/can_scan.json

@@ -0,0 +1,33 @@
+{
+ "ids_seen": {
+  "/can_frame (vehicle bus)": {
+   "0x220": 1675,
+   "0x2b0": 1849,
+   "0x4b0": 1203,
+   "0xb9": 1528
+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-02-15-14-34-19/source.json

@@ -0,0 +1,337 @@
+{
+ "source_bag": "2024-02-15-14-34-19.bag",
+ "bytes": 4060491068,
+ "start_ns": 1708025659374912872,
+ "end_ns": 1708025690337917238,
+ "duration_s": 30.96,
+ "nominal_fps": "10",
+ "hevc_qp": "13",
+ "frames": {
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+ },
+ "topics_in_bag": {
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+   "rosgraph_msgs/msg/Log",
+   568
+  ],
+  "/radar/pcl_filter/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
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+  "/radar/pcl_filter/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/can_frame": [
+   "roscco/msg/CanFrame",
+   6255
+  ],
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+   308
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+  "/camera_01/grab_images_rect/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   155
+  ],
+  "/radar/radar_data": [
+   "sensor_msgs/msg/PointCloud2",
+   560
+  ],
+  "/radar/filtered_data": [
+   "sensor_msgs/msg/PointCloud2",
+   560
+  ],
+  "/radar/target_list_cartesian": [
+   "sensor_msgs/msg/PointCloud2",
+   560
+  ],
+  "/steering_report": [
+   "roscco/msg/SteeringReport",
+   1542
+  ],
+  "/can_frame_angle": [
+   "std_msgs/msg/Float32",
+   1849
+  ],
+  "/throttle_report": [
+   "roscco/msg/ThrottleReport",
+   1541
+  ],
+  "/can_frame_speed": [
+   "std_msgs/msg/Float32",
+   1203
+  ],
+  "/brake_report": [
+   "roscco/msg/BrakeReport",
+   1541
+  ],
+  "/piksi_multi_base_station/measurement_state": [
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+   62
+  ],
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+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   93
+  ],
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+   1
+  ],
+  "/ouster/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   19686
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+   31
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+   3076
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+   "dynamic_reconfigure/msg/Config",
+   1
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+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   308
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+   308
+  ],
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+   "sensor_msgs/msg/PointCloud2",
+   308
+  ],
+  "/ouster/range_image": [
+   "sensor_msgs/msg/Image",
+   308
+  ],
+  "/ouster/signal_image": [
+   "sensor_msgs/msg/Image",
+   308
+  ],
+  "/ouster/reflec_image": [
+   "sensor_msgs/msg/Image",
+   308
+  ],
+  "/piksi/gps_time": [
+   "piksi_rtk_msgs/msg/GpsTimeMulti",
+   308
+  ],
+  "/piksi/utc_time": [
+   "piksi_rtk_msgs/msg/UtcTimeMulti",
+   308
+  ],
+  "/piksi/navsatfix_spp": [
+   "piksi_rtk_msgs/msg/WMUNavSatFix",
+   276
+  ],
+  "/piksi/pos_llh": [
+   "piksi_rtk_msgs/msg/PosLlh",
+   276
+  ],
+  "/piksi/navsatfix_best_fix": [
+   "piksi_rtk_msgs/msg/WMUNavSatFix",
+   276
+  ],
+  "/piksi/enu_point_spp": [
+   "geometry_msgs/msg/PointStamped",
+   276
+  ],
+  "/piksi/enu_pose_spp": [
+   "geometry_msgs/msg/PoseWithCovarianceStamped",
+   276
+  ],
+  "/piksi/enu_transform_spp": [
+   "geometry_msgs/msg/TransformStamped",
+   276
+  ],
+  "/piksi/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   368
+  ],
+  "/piksi/vel_ned": [
+   "piksi_rtk_msgs/msg/VelNed",
+   276
+  ],
+  "/piksi/enu_pose_best_fix": [
+   "geometry_msgs/msg/PoseWithCovarianceStamped",
+   276
+  ],
+  "/piksi/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   308
+  ],
+  "/camera_01/image_raw/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/pylon_camera_node/status": [
+   "dnb_msgs/msg/ComponentStatus",
+   285
+  ],
+  "/pylon_camera_node/currentParams": [
+   "camera_control_msgs/msg/currentParams",
+   285
+  ],
+  "/camera_01/grab_images_raw/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   154
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   568
+  ],
+  "/camera_01/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   284
+  ],
+  "/camera_01/image_raw/theora": [
+   "theora_image_transport/msg/Packet",
+   287
+  ],
+  "/camera_01/image_raw": [
+   "sensor_msgs/msg/Image",
+   284
+  ],
+  "/camera_01/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   284
+  ],
+  "/camera_01/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   284
+  ],
+  "/camera_01/image_rect/theora": [
+   "theora_image_transport/msg/Packet",
+   287
+  ],
+  "/camera_01/image_rect": [
+   "sensor_msgs/msg/Image",
+   284
+  ],
+  "/piksi/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   62
+  ],
+  "/piksi/imu": [
+   "sensor_msgs/msg/Imu",
+   62
+  ],
+  "/piksi/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   61
+  ],
+  "/piksi_multi_base_station/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   31
+  ],
+  "/piksi_multi_base_station/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   62
+  ],
+  "/piksi_multi_base_station/imu": [
+   "sensor_msgs/msg/Imu",
+   62
+  ],
+  "/piksi/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   31
+  ],
+  "/piksi_multi_base_station/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   10
+  ],
+  "/diagnostics": [
+   "diagnostic_msgs/msg/DiagnosticArray",
+   15
+  ],
+  "/piksi/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   10
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 671,
+  "/radar/pcl_filter/parameter_descriptions": 1,
+  "/radar/pcl_filter/parameter_updates": 1,
+  "/camera_01/grab_images_rect/status": 155,
+  "/ouster/lidar_packets": 19686,
+  "/ouster/os_nodelet_mgr/bond": 186,
+  "/ouster/imu_packets": 3076,
+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_raw/compressedDepth/parameter_updates": 1,
+  "/ouster/nearir_image": 308,
+  "/ouster/points": 308,
+  "/ouster/range_image": 308,
+  "/ouster/signal_image": 308,
+  "/ouster/reflec_image": 308,
+  "/camera_01/image_raw/compressed/parameter_descriptions": 1,
+  "/camera_01/image_raw/compressed/parameter_updates": 1,
+  "/camera_01/image_raw/theora/parameter_descriptions": 1,
+  "/camera_01/image_raw/theora/parameter_updates": 1,
+  "/pylon_camera_node/status": 285,
+  "/camera_01/grab_images_raw/status": 154,
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_rect/compressed/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressed/parameter_updates": 1,
+  "/camera_01/image_rect/theora/parameter_descriptions": 1,
+  "/camera_01/image_rect/theora/parameter_updates": 1,
+  "/rosout_agg": 568,
+  "/camera_01/image_raw/compressed": 284,
+  "/camera_01/image_raw/theora": 287,
+  "/camera_01/image_rect/compressed": 284,
+  "/camera_01/image_rect/theora": 287,
+  "/camera_01/image_rect": 284,
+  "/diagnostics": 15
+ }
+}

radar_tests_2023-24/2024-02-15-14-35-34/can_scan.json

@@ -0,0 +1,33 @@
+{
+ "ids_seen": {
+  "/can_frame (vehicle bus)": {
+   "0x220": 1504,
+   "0x2b0": 2434,
+   "0x4b0": 1080,
+   "0xb9": 1459
+  }
+ },
+ "vehicle_ids_documented": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "oscc_ids": [
+  "0x70",
+  "0x71",
+  "0x72",
+  "0x73",
+  "0x80",
+  "0x81",
+  "0x82",
+  "0x83",
+  "0x90",
+  "0x91",
+  "0x92",
+  "0x93",
+  "0xaf"
+ ],
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-02-15-14-35-34/source.json

@@ -0,0 +1,337 @@
+{
+ "source_bag": "2024-02-15-14-35-34.bag",
+ "bytes": 3819605270,
+ "start_ns": 1708025734904066650,
+ "end_ns": 1708025764413203199,
+ "duration_s": 29.51,
+ "nominal_fps": "10",
+ "hevc_qp": "13",
+ "frames": {
+  "camera_01": 266
+ },
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   531
+  ],
+  "/radar/pcl_filter/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/radar/pcl_filter/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/radar/filtered_data": [
+   "sensor_msgs/msg/PointCloud2",
+   535
+  ],
+  "/radar/target_list_cartesian": [
+   "sensor_msgs/msg/PointCloud2",
+   535
+  ],
+  "/can_frame": [
+   "roscco/msg/CanFrame",
+   6477
+  ],
+  "/can_frame_angle": [
+   "std_msgs/msg/Float32",
+   2434
+  ],
+  "/steering_report": [
+   "roscco/msg/SteeringReport",
+   1472
+  ],
+  "/throttle_report": [
+   "roscco/msg/ThrottleReport",
+   1472
+  ],
+  "/brake_report": [
+   "roscco/msg/BrakeReport",
+   1472
+  ],
+  "/can_frame_speed": [
+   "std_msgs/msg/Float32",
+   1080
+  ],
+  "/piksi_multi_base_station/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   294
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
+   294
+  ],
+  "/radar/radar_data": [
+   "sensor_msgs/msg/PointCloud2",
+   534
+  ],
+  "/ouster/metadata": [
+   "std_msgs/msg/String",
+   1
+  ],
+  "/piksi/utc_time": [
+   "piksi_rtk_msgs/msg/UtcTimeMulti",
+   293
+  ],
+  "/piksi/gps_time": [
+   "piksi_rtk_msgs/msg/GpsTimeMulti",
+   293
+  ],
+  "/piksi/age_of_corrections": [
+   "piksi_rtk_msgs/msg/AgeOfCorrections",
+   293
+  ],
+  "/ouster/nearir_image": [
+   "sensor_msgs/msg/Image",
+   293
+  ],
+  "/ouster/os_nodelet_mgr/bond": [
+   "bond/msg/Status",
+   29
+  ],
+  "/piksi/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   60
+  ],
+  "/piksi/imu": [
+   "sensor_msgs/msg/Imu",
+   60
+  ],
+  "/ouster/lidar_packets": [
+   "ouster_ros/msg/PacketMsg",
+   18721
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/ouster/imu_packets": [
+   "ouster_ros/msg/PacketMsg",
+   2925
+  ],
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   2925
+  ],
+  "/camera_01/image_raw/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_raw/theora": [
+   "theora_image_transport/msg/Packet",
+   268
+  ],
+  "/camera_01/image_raw/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_raw/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/pylon_camera_node/status": [
+   "dnb_msgs/msg/ComponentStatus",
+   266
+  ],
+  "/pylon_camera_node/currentParams": [
+   "camera_control_msgs/msg/currentParams",
+   266
+  ],
+  "/camera_01/grab_images_raw/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   148
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressedDepth/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/compressed/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/image_rect/theora": [
+   "theora_image_transport/msg/Packet",
+   268
+  ],
+  "/camera_01/image_rect/theora/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/camera_01/image_rect/theora/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/camera_01/grab_images_rect/status": [
+   "actionlib_msgs/msg/GoalStatusArray",
+   147
+  ],
+  "/diagnostics": [
+   "diagnostic_msgs/msg/DiagnosticArray",
+   15
+  ],
+  "/ouster/range_image": [
+   "sensor_msgs/msg/Image",
+   292
+  ],
+  "/ouster/reflec_image": [
+   "sensor_msgs/msg/Image",
+   292
+  ],
+  "/ouster/signal_image": [
+   "sensor_msgs/msg/Image",
+   292
+  ],
+  "/ouster/points": [
+   "sensor_msgs/msg/PointCloud2",
+   292
+  ],
+  "/rosout_agg": [
+   "rosgraph_msgs/msg/Log",
+   531
+  ],
+  "/camera_01/image_raw/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   266
+  ],
+  "/camera_01/image_raw": [
+   "sensor_msgs/msg/Image",
+   266
+  ],
+  "/piksi_multi_base_station/imu_raw": [
+   "piksi_rtk_msgs/msg/ImuRawMulti",
+   60
+  ],
+  "/piksi_multi_base_station/imu": [
+   "sensor_msgs/msg/Imu",
+   60
+  ],
+  "/camera_01/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   265
+  ],
+  "/camera_01/image_rect/compressed": [
+   "sensor_msgs/msg/CompressedImage",
+   265
+  ],
+  "/camera_01/image_rect": [
+   "sensor_msgs/msg/Image",
+   265
+  ],
+  "/piksi/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   30
+  ],
+  "/piksi/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   91
+  ],
+  "/piksi/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   59
+  ],
+  "/piksi_multi_base_station/debug/receiver_state": [
+   "piksi_rtk_msgs/msg/ReceiverState_V2_4_1",
+   87
+  ],
+  "/piksi_multi_base_station/measurement_state": [
+   "piksi_rtk_msgs/msg/MeasurementState_V2_4_1",
+   58
+  ],
+  "/piksi_multi_base_station/heartbeat": [
+   "piksi_rtk_msgs/msg/Heartbeat",
+   29
+  ],
+  "/piksi_multi_base_station/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   10
+  ],
+  "/piksi/device_monitor": [
+   "piksi_rtk_msgs/msg/DeviceMonitor_V2_3_15",
+   10
+  ],
+  "/piksi/enu_pose_best_fix": [
+   "geometry_msgs/msg/PoseWithCovarianceStamped",
+   2
+  ],
+  "/piksi/enu_point_spp": [
+   "geometry_msgs/msg/PointStamped",
+   2
+  ],
+  "/piksi/pos_llh": [
+   "piksi_rtk_msgs/msg/PosLlh",
+   2
+  ],
+  "/piksi/enu_transform_spp": [
+   "geometry_msgs/msg/TransformStamped",
+   2
+  ],
+  "/piksi/enu_pose_spp": [
+   "geometry_msgs/msg/PoseWithCovarianceStamped",
+   2
+  ],
+  "/piksi/navsatfix_best_fix": [
+   "piksi_rtk_msgs/msg/WMUNavSatFix",
+   2
+  ],
+  "/piksi/navsatfix_spp": [
+   "piksi_rtk_msgs/msg/WMUNavSatFix",
+   2
+  ],
+  "/piksi/vel_ned": [
+   "piksi_rtk_msgs/msg/VelNed",
+   2
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 634,
+  "/radar/pcl_filter/parameter_descriptions": 1,
+  "/radar/pcl_filter/parameter_updates": 1,
+  "/ouster/nearir_image": 293,
+  "/ouster/os_nodelet_mgr/bond": 178,
+  "/ouster/lidar_packets": 18721,
+  "/camera_01/image_raw/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_raw/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_raw/compressed/parameter_descriptions": 1,
+  "/ouster/imu_packets": 2925,
+  "/camera_01/image_raw/compressed/parameter_updates": 1,
+  "/camera_01/image_raw/theora": 268,
+  "/camera_01/image_raw/theora/parameter_descriptions": 1,
+  "/camera_01/image_raw/theora/parameter_updates": 1,
+  "/pylon_camera_node/status": 266,
+  "/camera_01/grab_images_raw/status": 148,
+  "/camera_01/image_rect/compressedDepth/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressedDepth/parameter_updates": 1,
+  "/camera_01/image_rect/compressed/parameter_descriptions": 1,
+  "/camera_01/image_rect/compressed/parameter_updates": 1,
+  "/camera_01/image_rect/theora": 268,
+  "/camera_01/image_rect/theora/parameter_descriptions": 1,
+  "/camera_01/image_rect/theora/parameter_updates": 1,
+  "/camera_01/grab_images_rect/status": 147,
+  "/diagnostics": 15,
+  "/ouster/range_image": 292,
+  "/ouster/reflec_image": 292,
+  "/ouster/signal_image": 292,
+  "/ouster/points": 292,
+  "/rosout_agg": 531,
+  "/camera_01/image_raw/compressed": 266,
+  "/camera_01/image_rect/compressed": 265,
+  "/camera_01/image_rect": 265
+ }
+}

radar_tests_2023-24/2024-03-27-15-07-37/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

radar_tests_2023-24/2024-03-27-15-07-37/source.json

@@ -0,0 +1,45 @@
+{
+ "source_bag": "2024-03-27-15-07-37.bag",
+ "bytes": 783210,
+ "start_ns": 1711566457955955457,
+ "end_ns": 1711566480735812654,
+ "duration_s": 22.78,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {},
+ "topics_in_bag": {
+  "/rosout": [
+   "rosgraph_msgs/msg/Log",
+   1
+  ],
+  "/radar/pcl_filter/parameter_descriptions": [
+   "dynamic_reconfigure/msg/ConfigDescription",
+   1
+  ],
+  "/radar/pcl_filter/parameter_updates": [
+   "dynamic_reconfigure/msg/Config",
+   1
+  ],
+  "/radar/radar_data": [
+   "sensor_msgs/msg/PointCloud2",
+   412
+  ],
+  "/radar/filtered_data": [
+   "sensor_msgs/msg/PointCloud2",
+   411
+  ],
+  "/radar/target_list_cartesian": [
+   "sensor_msgs/msg/PointCloud2",
+   411
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
+   226
+  ]
+ },
+ "topics_archive_only": {
+  "/rosout": 10,
+  "/radar/pcl_filter/parameter_descriptions": 1,
+  "/radar/pcl_filter/parameter_updates": 1
+ }
+}

radar_tests_2023-24/SHA256SUMS

@@ -0,0 +1,312 @@
+7aa34dbaf2799e860377c5b8056cf78f8bd8e2f40a6a37fa64607a85340eb7c6  ./2023-12-11-13-10-55/can_scan.json
+2382a32b993a520f5e345965304626e9a7628365465d8489e9c4154656ac959e  ./2023-12-11-13-10-55/sensors/ouster_imu.parquet
+b17cbfe64e8990b7b2625ddfdac06b366b341f15cb01e77986e3c6a73544354a  ./2023-12-11-13-10-55/sensors/ouster_metadata.parquet
+a91980d1091d2434daff2f2ac721d3e73f64bb74099e74e824028778e0a54eb6  ./2023-12-11-13-10-55/sensors/radar_1_can_rx.parquet
+7b2cae5c2e6238e6a29d32419e99a0b918aaee6a4881b83a9ec161a41cab7277  ./2023-12-11-13-10-55/sensors/radar_1_can_tx.parquet
+16cecb27e330a35e05ff98b83bc920c2372e6de622de4cd9076b54f8e00f860d  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_1.parquet
+a9ae5ef3f42065dc74657dddb0d6921f52633fe9f8d4f5c20968ae9d94d48e30  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_2.parquet
+60911845042e76a9ef1eaf25bf39e04961454fef1c43bc3559c13bbf3bcc501e  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_3.parquet
+58dc21b047f2491c36ccffc6ad378af8113f1ed7820adfdf788c7085f831b948  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_4.parquet
+9f9b19bf8a06916fa5c3e806781990cfaa153c2071f18e93b9e894557d93e6ee  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_5.parquet
+71202b51d9f5fbf766f6890c27f6cd9fe2aa7651679b49071e5d092b5456a251  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_6.parquet
+faa355040df63815426f793f0141d69310a9699038ff9c7c8fca90384f5f667d  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_7.parquet
+bd23aff62f3cd359898af49c436c1ce4f94c5fe3c164534fb1ab327db70366ba  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_8.parquet
+dc8d431ce38ebb752b75ce959521ef8adc503d081cd3e0b64f9eac974e7d14b6  ./2023-12-11-13-10-55/sensors/radar_1_esr_status_9.parquet
+a4e0e801b7918bddb6aa7561acf625fecb293c71dc99679b3f6918eb7a652469  ./2023-12-11-13-10-55/sensors/radar_1_esr_track_motion_power_group.parquet
+de307f3b861ec900806c720dbfadb803225d5605e25193c41a421e7c519f1852  ./2023-12-11-13-10-55/sensors/radar_1_esr_track.parquet
+9fe8e57d24b5f2d12b7faeb3314ce32a976ad32614fe042f96471871930de66b  ./2023-12-11-13-10-55/sensors/radar_1_esr_valid_1.parquet
+594bb370163488a69fd66976bf2bfe42f0d6655e73c59f9b6283ac8840f0466b  ./2023-12-11-13-10-55/sensors/radar_1_esr_valid_2.parquet
+7f8dc023791651d58864b59a10123d98b356b6bec6b29baa2815d080d848b175  ./2023-12-11-13-10-55/sensors/radar_1_objects.parquet
+923492663551dd5d2e2c1bc246d5bfafd9341dacba70ddf8af59e90f5a3bb9ae  ./2023-12-11-13-10-55/sensors/radar_1_radar_tracks.parquet
+95509892912305666d34c9aeadc1e304970281e37f9984cd609491f1cba8978f  ./2023-12-11-13-10-55/sensors/tf.parquet
+b0b02ce9ed04b6c3296d45ca69ae94976449c9d51ecc5b8405fb9e07b8aebc27  ./2023-12-11-13-10-55/source.json
+75ca3413c3a940e8d97c0a35d019ba1e7dee22396982a92a500517b83d236e58  ./2024-01-31-15-23-35/camera_01.frames.parquet
+0f8f8054bc2f39fc3982d60483e83f778d067fc19faf46051aff8717c3fe61d5  ./2024-01-31-15-23-35/camera_01.hevc.mp4
+cd21fa6aa1560d8bce6fc239d53ab542c7c5540768e35260c9195a5ec6f7cc4c  ./2024-01-31-15-23-35/can_scan.json
+efae45fc7e6ecdc329c4153e4527f04ce340b89c239d5b3e7c21fc9d7d449325  ./2024-01-31-15-23-35/sensors/brake_report.parquet
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+40fc23c3eee7396a10e3e973ecee6498cebc14aad04e11ac755613b6c6ab2ee4  ./2024-01-31-15-23-35/sensors/can_frame_angle.parquet
+1e7a4b9ad47e070574484a889f18106d1f123bd97a4653016e42205c4b107485  ./2024-01-31-15-23-35/sensors/can_frame.parquet
+ff1d55dcf4df2e271eb8595a2eaf3cf237807e9bf76cdc1438bf5ecd9d083a83  ./2024-01-31-15-23-35/sensors/can_frame_speed.parquet
+f122072033b62d1e12b65505c6fb1962d0fa9b628fb66bf59b316ca6da1f533b  ./2024-01-31-15-23-35/sensors/ouster_imu.parquet
+4c613ec1616aec947581cd3c4a1eb12a5ba6d1884c5914209db0cf47d8270bf2  ./2024-01-31-15-23-35/sensors/ouster_metadata.parquet
+c2bdac6c9719cca779b478863a3d8880a47fbe6613bebb930c35f443164d3b92  ./2024-01-31-15-23-35/sensors/piksi_age_of_corrections.parquet
+eff23b7f671d2667f2574293982a424c00ef13ca88d2f6374e6f36b8be02b249  ./2024-01-31-15-23-35/sensors/piksi_debug_receiver_state.parquet
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zed2i_campus_2022-07/Campus_Drive_partial/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

zed2i_campus_2022-07/Campus_Drive_partial/source.json

@@ -0,0 +1,19 @@
+{
+ "source_bag": "Campus_Drive_resync.bag",
+ "bytes": 14540707166,
+ "start_ns": 1659110307918242771,
+ "end_ns": 1659110426674679921,
+ "duration_s": 118.76,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {
+  "left": 1753
+ },
+ "topics_in_bag": {
+  "/zed2i/zed_node/rgb_raw/image_raw_color": [
+   "sensor_msgs/msg/Image",
+   1753
+  ]
+ },
+ "topics_archive_only": {}
+}

zed2i_campus_2022-07/Engineering_Drive/can_scan.json

@@ -0,0 +1,11 @@
+{
+ "ids_seen": {},
+ "vehicle_ids_released": {
+  "0x2b0": "SAS11 steering angle",
+  "0x386": "WHL_SPD11 wheel speeds",
+  "0x220": "ESP12 brake pressure",
+  "0x371": "E_EMS11 accelerator",
+  "0x52a": "CLU15 vehicle speed"
+ },
+ "vehicle_frames_dropped_by_id": {}
+}

zed2i_campus_2022-07/Engineering_Drive/source.json

@@ -0,0 +1,19 @@
+{
+ "source_bag": "Engineering_Drive.bag",
+ "bytes": 23946954808,
+ "start_ns": 1658944082336879523,
+ "end_ns": 1658944280148809796,
+ "duration_s": 197.81,
+ "nominal_fps": "15",
+ "hevc_qp": "13",
+ "frames": {
+  "left": 2887
+ },
+ "topics_in_bag": {
+  "/zed2i/zed_node/rgb_raw/image_raw_color": [
+   "sensor_msgs/msg/Image",
+   2887
+  ]
+ },
+ "topics_archive_only": {}
+}

zed2i_campus_2022-07/SHA256SUMS

@@ -0,0 +1,8 @@
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./Campus_Drive_partial/can_scan.json
+3a60ea3b49464bec1d69789539ae1717972d497bbaaa24fec365d56ae456e052  ./Campus_Drive_partial/left.frames.parquet
+62987298ca3ce8a59527c4102d6ddd5032ad32342c11a2211ec0fa04d5d3f385  ./Campus_Drive_partial/left.hevc.mp4
+7ca58553966093c8f0fdcf590531b1631915ecc5a2146e79b971ae9f226bb2c7  ./Campus_Drive_partial/source.json
+9fa1a468274ed82a28e9e1aec7ce6e0c6d1e3b2313ca3ee9d99c7f32943f790e  ./Engineering_Drive/can_scan.json
+f4ae18a5255f8c50e8e5603e03941fe32686061707d5e8f714b3fe4eaedd7485  ./Engineering_Drive/left.frames.parquet
+5e5ae707dc69a5e40326b2b1eefe6c9e78f271c1cbef40bed046cf701777195c  ./Engineering_Drive/left.hevc.mp4
+91c45935004ac69c8fe6c95c279a584ea69f23fd3f5233b09b817858d7212615  ./Engineering_Drive/source.json