PPC-Dataset-ROS2

Unofficial ROS 2 bag conversion of the PPC-Dataset using the message definitions from gnss_ros_standardization.

The PPC-Dataset (Precise Positioning Challenge Dataset, by Taro Suzuki, MIT License) is six urban driving runs — three in Nagoya, three in Tokyo — with 5 Hz triple-frequency multi-GNSS observations, 100 Hz IMU, reference-station observations, and ground truth. For anything about the data itself (receivers, antennas, routes, ground-truth generation), refer to the original repository. If you use this data, please cite the original dataset.

gnss_ros_standardization

gnss_ros_standardization defines standardized ROS 2 message types for raw GNSS data — observations, ephemerides, and positioning solutions — so that GNSS datasets and receivers can be replayed into ROS 2 positioning pipelines (RTK, factor-graph optimization, EKF) through a common interface.

Its converters are bidirectional: RINEX ↔ rosbag and RTKLIB .pos ↔ rosbag. These bags were produced with rinex_to_rosbag, and the same package converts a bag back out — a solution computed in ROS 2 can be handed to RTKLIB or any conventional GNSS tooling, and your own RINEX logs can join this dataset on the same topics.

Build the package (see its README) before ros2 bag play, so the GNSS message types resolve.

ROS 2 topics

Every run contains the same six topics.

Topic	Type	Rate	Source
/gnss/observation	gnss_ros_standardization/msg/GnssObservations	5 Hz	rover.obs
/base/gnss/observation	gnss_ros_standardization/msg/GnssObservations	1 Hz	base.obs
/gnss/ephemeris	gnss_ros_standardization/msg/GnssEphemerides	on update	base.nav
/gnss/imu/data_raw	sensor_msgs/msg/Imu	100 Hz	imu.csv
/gnss/reference/solution	gnss_ros_standardization/msg/GnssSolution	5 Hz	reference.csv
/gnss/reference/solution_odom	nav_msgs/msg/Odometry	5 Hz	reference.csv

• Timestamps are GPS time (GPST), not UTC. Use the week / tow fields inside the GNSS messages for canonical GNSS time.

Runs

Run	Start (GPST)	Duration	Messages	Size
nagoya_run1	2024-08-03 08:53:00	1530 s	177,454	26.7 MB
nagoya_run2	2024-07-20 10:22:00	1890 s	219,260	33.2 MB
nagoya_run3	2024-08-03 09:50:00	1040 s	120,654	17.9 MB
tokyo_run1	2024-07-23 04:04:30	2390 s	277,245	38.1 MB
tokyo_run2	2024-07-23 01:10:00	1830 s	212,300	34.6 MB
tokyo_run3	2024-07-23 01:51:00	3060 s	354,984	58.2 MB

Each run is bags/<run>/<run>_0.mcap plus metadata.yaml.

Converting to sqlite3 (.db3)

The bags ship as mcap, the rosbag2 default since Iron. For sqlite3, write to_sqlite3.yaml:

output_bags:
  - uri: nagoya_run1_db3
    storage_id: sqlite3
    all_topics: true

ros2 bag convert -i bags/nagoya_run1 mcap -o to_sqlite3.yaml

Note that sqlite3 bags are not compressed (nagoya_run3: 18 MB → 94 MB). On Humble or earlier, if mcap is not recognized: sudo apt install ros-$ROS_DISTRO-rosbag2-storage-mcap.

License

MIT. See LICENSE. The bags are derived from the PPC-Dataset (Copyright (c) 2025 Taro Suzuki, MIT License).