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：本文全面阐述了我们的RTPS数据集。我们通过向处于正常运行状态的无人地面车辆（UGV）注入攻击数据，采集了攻击数据包与正常数据包。为收集该数据集，我们搭建了包含UGV、控制器、PC及路由器的测试平台。在该平台上实施了“命令注入”与“ARP欺骗”两种攻击。数据采集时长分别为180、300、600和1200秒，每种采集时长下各包含30个场景，总计240个场景。我们预期该数据集将有助于推动异常检测等技术发展，以应对ROS2网络和UGV中的安全威胁问题。