This paper explains all about our RTPS datasets. We collect malicious/benign packet data by injecting attack data in an Unmanned Ground Vehicle (UGV) in the normal state. We assembled the testbed, consisting of UGV, Controller, PC, and Router. We collect this dataset in the UGV part of our testbed. We conducted two types of attack "Command Injection" and "Command Injection with ARP Spoofing" on our 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 to contribute to the development of defense technologies like anomaly detection to address security threat issues in ROS2 networks and Fast-DDS implements.

翻译：本文详细阐述了我们的RTPS数据集。通过在正常状态下的无人地面车辆（UGV）中注入攻击数据，我们收集了恶意/良性数据包。我们搭建了由UGV、控制器、PC和路由器组成的测试平台，并在测试平台的UGV部分采集了该数据集。我们在测试平台上实施了两种类型的攻击：“命令注入”和“命令注入结合ARP欺骗”。数据采集时间分别为180、300、600和1200秒。每个采集时间对应30个场景，共计240个样本。我们期望该数据集能够促进如异常检测等防御技术的发展，以应对ROS2网络和Fast-DDS实现中的安全威胁问题。