Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	1894	0.011	1.987
/adapt_trav_vel_in	geometry_msgs/TwistStamped	1892	0.011	1.79
/artifact_detections	darpa_msgs/Detections	390	3.934	9.749
/artifact_detections3D	darpa_msgs/DetectionPositions	390	3.943	9.755
/battery_status	sensor_msgs/BatteryState	1752	0.008	1.512
/cmd_vel	geometry_msgs/Twist	1883
/currents	nifti_robot_driver_msgs/CurrentsStamped	1751	0.007	1.346
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	6	0.002	0.004
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	188	0.002	0.229
/diagnostics	diagnostic_msgs/DiagnosticArray	19986	0.004	0.938
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	188	0.001	0.01
/dynamic_point_cloud	sensor_msgs/PointCloud2	61	3.016	3.278
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	41	0.002	0.014
/exploration/path	nav_msgs/Path	813
/filtered_joint_states	sensor_msgs/JointState	1745	0.004	0.821
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	939
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	1745	0.003	0.821
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	169	0.116	0.713
/icp_odom	nav_msgs/Odometry	60	3.469	3.705
/imu/data	sensor_msgs/Imu	17944	0.002	0.686
/imu_odom	nav_msgs/Odometry	17941	0.054	0.714
/joint_states	sensor_msgs/JointState	1743	0.002	0.618
/local_joy/cmd_vel	geometry_msgs/Twist	1438
/local_joy/joy	sensor_msgs/Joy	1888	0.003	0.641
/mux_cmd_vel/selected	std_msgs/String	3
/mux_flipper_cmd/selected	std_msgs/String	1881
/mux_flippers_cmd/selected	std_msgs/String	1880
/mux_flippers_cmd_vel/selected	std_msgs/String	1880
/mux_laser_center/selected	std_msgs/String	3
/mux_posture_cmd/selected	std_msgs/String	1880
/mux_posture_cmd_stamped/selected	std_msgs/String	1881
/mux_scanning_speed_cmd/selected	std_msgs/String	3
/mux_tracks_vel_cmd/selected	std_msgs/String	3
/nav/cmd_vel	geometry_msgs/Twist	1874
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	94	0.001	0.067
/network/sender_stats	nimbro_topic_transport/SenderStats	135	0.001	0.009
/posture	std_msgs/Int32	1739
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	1739	0.001	0.299
/rosout	rosgraph_msgs/Log	40132	0.061	84.322
/rosout_agg	rosgraph_msgs/Log	40048	0.022	4.085
/scan	sensor_msgs/LaserScan	9353	0.038	0.076
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	171	0.083	0.505
/temperature	sensor_msgs/Temperature	17859	0.001	0.025
/tf	tf2_msgs/TFMessage	54591
/tf_static	tf2_msgs/TFMessage	540
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	1734	0.001	0.015
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	870	0.239	1.015
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	868	0.426	1.192
/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