Data set for the evaluation of radiation mapping methods for mobile robots accompanying our SSRR 2023 paper "Online 2D-3D Radiation Mapping and Source Localization using Gaussian Processes with Mobile Ground Robots." The data set covers processed robot onboard data (dose rate, 3D pointclouds, camera, localization, map) from the KIARA Telemax robot at EnRicH 2023 held in the decommissioned Zwentendorf Nuclear Power Plant in Austria. The scenario simulated a radiation accident featuring multiple radiation sources, a missing worker, and manipulation tasks hidden within a space roughly 30 m x 25 m, encompassing multiple rooms. Within the scenario five Cobalt-70 radiation sources with an activity of 0.7 GBq (estimated dose rate of 50 mSv/h at direct contact and 230muSv/h at a distance of 1 m) were hidden.