Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	21404	0.002	2.686
/adapt_trav_vel_in	geometry_msgs/TwistStamped	21731	0.004	2.492
/artifact_detections	darpa_msgs/Detections	3078	3.284	11.08
/artifact_detections3D	darpa_msgs/DetectionPositions	3078	3.291	11.08
/battery_status	sensor_msgs/BatteryState	20274	0.002	1.971
/cmd_vel	geometry_msgs/Twist	21985
/ctu_robot/subt_odom_part	nav_msgs/Odometry	619	0.001	0.011
/currents	nifti_robot_driver_msgs/CurrentsStamped	20271	0.001	1.656
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	13	0.002	0.005
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	2140	0.001	0.09
/diagnostics	diagnostic_msgs/DiagnosticArray	225388	0.002	0.951
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	2142	0.002	1.227
/dynamic_point_cloud	sensor_msgs/PointCloud2	678	3.089	55.497
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	2
/exploration/path	nav_msgs/Path	8861
/filtered_joint_states	sensor_msgs/JointState	20264	0.001	1.081
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	10693
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	20263	0.001	0.984
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	1924	0.113	1.012
/husky_robot/subt_odom_part	nav_msgs/Odometry	755	0.001	0.022
/icp_odom	nav_msgs/Odometry	676	3.336	3.816
/imu/data	sensor_msgs/Imu	204209	0.001	0.845
/imu_odom	nav_msgs/Odometry	204208	0.053	0.896
/joint_states	sensor_msgs/JointState	20261	0.001	0.785
/local_joy/cmd_vel	geometry_msgs/Twist	2958
/local_joy/joy	sensor_msgs/Joy	19335	0.001	0.709
/mux_cmd_vel/selected	std_msgs/String	186
/mux_flipper_cmd/selected	std_msgs/String	21387
/mux_flippers_cmd/selected	std_msgs/String	21386
/mux_flippers_cmd_vel/selected	std_msgs/String	21386
/mux_laser_center/selected	std_msgs/String	109
/mux_posture_cmd/selected	std_msgs/String	21386
/mux_posture_cmd_stamped/selected	std_msgs/String	21386
/mux_scanning_speed_cmd/selected	std_msgs/String	109
/mux_tracks_vel_cmd/selected	std_msgs/String	185
/nav/cmd_vel	geometry_msgs/Twist	21403
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	1735	0.001	0.27
/network/sender_stats	nimbro_topic_transport/SenderStats	2020	0.0	0.013
/posture	std_msgs/Int32	20256
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	20254	0.0	0.175
/rosout	rosgraph_msgs/Log	372021	0.084
/rosout_agg	rosgraph_msgs/Log	371973	0.024	201.609
/scan	sensor_msgs/LaserScan	103785	0.038	0.171
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	2113	0.069	0.469
/temperature	sensor_msgs/Temperature	204088	0.001	0.135
/tf	tf2_msgs/TFMessage	634083
/tf_static	tf2_msgs/TFMessage	1001
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	20248	0.0	0.066
/uav1_robot/subt_odom_part	nav_msgs/Odometry	290	0.001	0.011
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	10024	0.235	1.047
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	9807	0.419	1.281
/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: -0.00101
	realsense_shift_x: 0.025
	realsense_shift_y: 0.038
	realsense_shift_z: 0.077
	realsense_tilt: 0.504467
	realsense_upside_down: False
	realsense_yaw: -0.01133
	top_box_j_x: 0.468
	velodyne_x_offset: 0.41
	velodyne_yaw: -1.84