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This paper introduces a new ROSbag-based multimodal affective dataset foremotional and cognitive states generated using Robot Operating System (ROS). Weutilized images and sounds from the International Affective Pictures System(IAPS) and the International Affective Digitized Sounds (IADS) to stimulatetargeted emotions (happiness, sadness, anger, fear, surprise, disgust, andneutral), and a dual N-back game to stimulate different levels of cognitiveworkload. 30 human subjects participated in the user study; their physiologicaldata was collected using the latest commercial wearable sensors, behavioraldata was collected using hardware devices such as cameras, and subjectiveassessments were carried out through questionnaires. All data was stored insingle ROSbag files rather than in conventional Comma-separated values (CSV)files. This not only ensures synchronization of signals and videos in a dataset, but also allows researchers to easily analyze and verify their algorithmsby connecting directly to this dataset through ROS. The generated affectivedataset 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 greatresource for many researchers in the fields of affective computing, HCI, andHRI.

ROSbag-based Multimodal Affective Dataset for Emotional and Cognitive States