Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	9292	0.003	1.971
/adapt_trav_vel_in	geometry_msgs/TwistStamped	9291	0.005	1.774
/artifact_detections	darpa_msgs/Detections	2440	3.603	7.25
/artifact_detections3D	darpa_msgs/DetectionPositions	2440	3.609	7.258
/battery_status	sensor_msgs/BatteryState	9254	0.002	1.487
/cmd_vel	geometry_msgs/Twist	9586
/currents	nifti_robot_driver_msgs/CurrentsStamped	9250	0.001	1.128
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	51	0.002	0.006
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	943	0.001	0.014
/dfki_robot/subt_odom_part	nav_msgs/Odometry	396	0.0	0.006
/diagnostics	diagnostic_msgs/DiagnosticArray	102515	0.002	0.845
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	947	0.001	0.112
/dynamic_point_cloud	sensor_msgs/PointCloud2	306	3.017	6.07
/emergency_stop	std_msgs/Bool	1
/enable	std_msgs/Bool	4
/exploration/goals	sensor_msgs/PointCloud2	6
/exploration/path	nav_msgs/Path	3800
/filtered_joint_states	sensor_msgs/JointState	9243	0.002	0.566
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	4733
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	9243	0.001	0.566
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	851	0.112	0.121
/icp_odom	nav_msgs/Odometry	306	3.493	6.641
/imu/data	sensor_msgs/Imu	90307	0.001	0.57
/imu_odom	nav_msgs/Odometry	90297	0.053	0.483
/joint_states	sensor_msgs/JointState	9241	0.001	0.399
/local_joy/cmd_vel	geometry_msgs/Twist	1035
/local_joy/joy	sensor_msgs/Joy	9569	0.001	0.399
/mux_cmd_vel/selected	std_msgs/String	50
/mux_flipper_cmd/selected	std_msgs/String	9468
/mux_flippers_cmd/selected	std_msgs/String	9467
/mux_flippers_cmd_vel/selected	std_msgs/String	9467
/mux_laser_center/selected	std_msgs/String	31
/mux_posture_cmd/selected	std_msgs/String	9468
/mux_posture_cmd_stamped/selected	std_msgs/String	9468
/mux_scanning_speed_cmd/selected	std_msgs/String	31
/mux_tracks_vel_cmd/selected	std_msgs/String	50
/nav/cmd_vel	geometry_msgs/Twist	9462
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	889	0.0	0.01
/network/sender_stats	nimbro_topic_transport/SenderStats	766	0.0	0.009
/posture	std_msgs/Int32	9236
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	9236	0.001	0.012
/rosout	rosgraph_msgs/Log	157071	0.78
/rosout_agg	rosgraph_msgs/Log	157000	0.025	100.604
/scan	sensor_msgs/LaserScan	47191	0.038	0.103
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	932	0.081	0.517
/temperature	sensor_msgs/Temperature	90223	0.001	0.037
/tf	tf2_msgs/TFMessage	275754
/tf_static	tf2_msgs/TFMessage	149
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	9233	0.0	0.013
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	4404	0.238	1.037
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	4356	0.44	1.323
/viz/omnicam/image/compressed/parameter_descriptions	dynamic_reconfigure/ConfigDescription	1
/viz/omnicam/image/compressed/parameter_updates	dynamic_reconfigure/Config	1
camera/color/camera_info	sensor_msgs/CameraInfo	5709	0.001	0.015
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	5709	0.009	0.046
camera/depth/camera_info	sensor_msgs/CameraInfo	5670	0.009	0.046
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	5669	0.073	0.145
camera/extrinsics/depth_to_color	realsense2_camera/Extrinsics	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