Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	16468	0.002	2.472
/adapt_trav_vel_in	geometry_msgs/TwistStamped	16466	0.004	2.271
/artifact_detections	darpa_msgs/Detections	4159	3.573	9.037
/artifact_detections3D	darpa_msgs/DetectionPositions	4159	3.579	9.044
/battery_status	sensor_msgs/BatteryState	15876	0.001	1.804
/cmd_vel	geometry_msgs/Twist	16535
/currents	nifti_robot_driver_msgs/CurrentsStamped	15875	0.001	1.638
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	22	0.0	0.001
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	1650	0.001	0.638
/diagnostics	diagnostic_msgs/DiagnosticArray	175056	0.001	0.924
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	1650	0.001	0.726
/dynamic_point_cloud	sensor_msgs/PointCloud2	535	3.009	3.131
/emergency_stop	std_msgs/Bool	1
/enable	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	14
/exploration/path	nav_msgs/Path	6408
/filtered_joint_states	sensor_msgs/JointState	15867	0.001	0.833
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	8248
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	15867	0.001	0.833
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	1483	0.112	0.236
/icp_odom	nav_msgs/Odometry	535	3.417	3.785
/imu/data	sensor_msgs/Imu	157379	0.001	0.711
/imu_odom	nav_msgs/Odometry	157377	0.053	0.728
/joint_states	sensor_msgs/JointState	15865	0.001	0.634
/local_joy/cmd_vel	geometry_msgs/Twist	2057
/local_joy/joy	sensor_msgs/Joy	16498	0.001	0.627
/mux_cmd_vel/selected	std_msgs/String	3712
/mux_flipper_cmd/selected	std_msgs/String	16496
/mux_flippers_cmd/selected	std_msgs/String	16496
/mux_flippers_cmd_vel/selected	std_msgs/String	16495
/mux_laser_center/selected	std_msgs/String	22
/mux_posture_cmd/selected	std_msgs/String	16496
/mux_posture_cmd_stamped/selected	std_msgs/String	16496
/mux_scanning_speed_cmd/selected	std_msgs/String	22
/mux_tracks_vel_cmd/selected	std_msgs/String	3712
/nav/cmd_vel	geometry_msgs/Twist	16492
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	1589	0.0	0.008
/network/sender_stats	nimbro_topic_transport/SenderStats	1647	0.0	0.011
/posture	std_msgs/Int32	15861
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	15860	0.0	0.103
/rosout	rosgraph_msgs/Log	301356	0.047	373.545
/rosout_agg	rosgraph_msgs/Log	301287	0.024	372.547
/scan	sensor_msgs/LaserScan	82280	0.038	0.085
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	1646	0.075	0.518
/temperature	sensor_msgs/Temperature	157284	0.001	0.04
/tf	tf2_msgs/TFMessage	484061
/tf_static	tf2_msgs/TFMessage	367
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	15857	0.0	0.015
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	7676	0.236	1.032
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	7673	0.39	1.241
/viz/omnicam/image/compressed/parameter_descriptions	dynamic_reconfigure/ConfigDescription	1
/viz/omnicam/image/compressed/parameter_updates	dynamic_reconfigure/Config	1

Video

XY graph

Parts_config dictionary from .params YAML file

  parts_config:
	axis_x_offset: 0.059
	axis_y_offset: 0.08
	big_collision_box_height: 0.5
	big_collision_box_on_top: True
	big_collision_box_width: 0.5
	big_collision_box_x: -0.1
	flipper_inflation_ratio: 2.0
	flipper_inward_enlargement: 0.037
	has_axis_camera: False
	has_flipper_touch_sensors: False
	has_jetson: True
	has_mobilicom: True
	has_new_realsense: True
	has_omnicam: True
	has_ptuxthermo: False
	has_realsense: False
	has_top_box: True
	has_velodyne: False
	jetson_shift_x: 0.515
	jetson_shift_y: 0.12
	jetson_yaw: 0.0
	mobilicom_antenna_l_rotation: -0.3
	mobilicom_antenna_l_tilt: 0
	mobilicom_antenna_r_rotation: 0.8
	mobilicom_antenna_r_tilt: 0
	mobilicom_antennas_length: 0.17
	mobilicom_has_antenna_box: True
	mobilicom_parent_link: omnicam
	mobilicom_roll: 0.0
	mobilicom_shift_x: -0.02
	mobilicom_shift_y: 0.0
	mobilicom_shift_z: 0.08
	mobilicom_yaw: -0.91
	ptuxthermo_x_offset: 0.2
	ptuxthermo_y_offset: 0.18
	realsense_holder_version: 4
	realsense_parent_link: omnicam
	realsense_roll: -0.01
	realsense_shift_x: 0.02
	realsense_shift_y: 0.04
	realsense_shift_z: 0.05
	realsense_tilt: 0.47
	realsense_upside_down: False
	realsense_yaw: -0.05
	top_box_j_x: 0.476
	velodyne_x_offset: 0.41
	velodyne_yaw: -1.84