This paper explains all about our RTPS datasets. We collect attack and normal packet data by injecting attack data in an Unmanned Ground Vehicle (UGV) which is normal state. To collect this dataset, We assembled a test bed consisting of UGV, controller, PC, and router. We conducted two types of Attacks "Command Injection" and "ARP Spoofing" on the testbed. The data collection time is 180, 300, 600, and 1200, the scenario has 30 each on collection time. 240 total. We expect this dataset will contribute to the development of technologies such as anomaly detection to address security threat issues in ROS2 networks and UGVs.

翻译：本文详细阐述了我们的RTPS数据集。我们通过在处于正常状态下的无人地面车辆（UGV）中注入攻击数据，收集了攻击数据包与正常数据包。为构建此数据集，我们搭建了包含UGV、控制器、PC及路由器的测试平台，并针对该平台实施了"命令注入"与"ARP欺骗"两种攻击。数据采集时间设置为180、300、600与1200秒，每种采集时长对应30个场景，共计240个场景。我们预期本数据集将推动异常检测等技术发展，以解决ROS2网络与UGV中的安全威胁问题。