A robot moving through a pipe generates far more than video. Its power system, internal state, position, speed and inertial sensors all produce data that help engineers understand how the platform performs as a complete system. TUBERS partner DEMCON has made a selection of these test data openly available on Zenodo.

A system-level record

The dataset was collected while the TUBERS snake-like robot test platform navigated autonomously inside a test pipe network. It contains several connected types of information:

• timestamped power logs covering current, voltage and charge levels for the robot’s battery modules
• robot internal-state data stored in a ROS 2 bag database with accompanying metadata
• a nodal map of the KWR test network and the route used by the robot
• timestamped measurements from XSens inertial measurement units and Epson gyroscopes
• distance-travelled and velocity data in CSV format

Why combined test data are useful

Looking at these streams together can help researchers study the relationship between navigation, motion and energy use. The map and route provide context; the inertial data describe movement; the ROS 2 record captures the robot’s internal state; and the power logs show how the platform’s battery modules behaved during testing.

This type of integration-level evidence is valuable because performance cannot always be understood from one sensor or subsystem alone. It can also support reproducibility by showing how the test was represented across commonly used robotics formats.

An open resource for confined-environment robotics

The 82.8 MB release includes CSV, YAML, ROS database and compressed inertial-data files. Published under a Creative Commons Attribution 4.0 licence, it can support further work on autonomous navigation, mobile-robot diagnostics and robotic inspection in pipe networks and other confined environments.

Open DS6_DMC_snake-like_robot_test_data on Zenodo to review and download the files. Access the dataset on Zenodo