  This paper introduces a new ROSbag-based multimodal affective dataset for
emotional and cognitive states generated using Robot Operating System (ROS). We
utilized images and sounds from the International Affective Pictures System
(IAPS) and the International Affective Digitized Sounds (IADS) to stimulate
targeted emotions (happiness, sadness, anger, fear, surprise, disgust, and
neutral), and a dual N-back game to stimulate different levels of cognitive
workload. 30 human subjects participated in the user study; their physiological
data was collected using the latest commercial wearable sensors, behavioral
data was collected using hardware devices such as cameras, and subjective
assessments were carried out through questionnaires. All data was stored in
single ROSbag files rather than in conventional Comma-separated values (CSV)
files. This not only ensures synchronization of signals and videos in a data
set, but also allows researchers to easily analyze and verify their algorithms
by connecting directly to this dataset through ROS. The generated affective
dataset consists of 1,602 ROSbag files, and size of the dataset is about 787GB.
The dataset is made publicly available. We expect that our dataset can be great
resource for many researchers in the fields of affective computing, HCI, and
HRI.
