dfki-robot/run2-experimental/ugv_2019-08-18-19-59-12
Download original bagDownload processed bagStart | August 18 2019, 19:59 |
End | August 18 2019, 20:59 |
Duration | 59 mins, 50 secs |
Messages | 4435377 |
Size | 23 GiB |
Distance | 251.7 m |
Start of moving | 00:01:13 |
End of moving | 00:59:02 |
Average speed | 0.073 m/s |
Point cloud map | click to view |
Controller | robot gamepad, gamepad in PC, autonomous |
Movement tag | overcame obstacle, changed floor |
Moving joints | laser |
front left flipper | |
front right flipper | |
rear left flipper | |
rear right flipper |
Topics
Topic name | Type | Messages | Average time delay [s] | Max. time delay [s] |
---|---|---|---|---|
/adapt_trav_vel | geometry_msgs/TwistStamped | 33975 | 0.002 | 2.556 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 33974 | 0.004 | 2.482 |
/artifact_detections | darpa_msgs/Detections | 9182 | 3.236 | 7.835 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 9182 | 3.241 | 7.832 |
/battery_status | sensor_msgs/BatteryState | 32886 | 0.001 | 2.159 |
/cmd_vel | geometry_msgs/Twist | 39075 | ||
/ctu_robot/subt_odom_part | nav_msgs/Odometry | 1899 | 0.001 | 1.076 |
/currents | nifti_robot_driver_msgs/CurrentsStamped | 32882 | 0.001 | 1.793 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 31 | 0.001 | 0.004 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 3591 | 0.001 | 0.57 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 382685 | 0.001 | 0.937 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 3592 | 0.001 | 1.339 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 999 | 3.176 | 51.701 |
/emergency_stop | std_msgs/Bool | 2 | ||
/enable | std_msgs/Bool | 1 | ||
/exploration/goals | sensor_msgs/PointCloud2 | 81 | ||
/exploration/path | nav_msgs/Path | 13652 | ||
/filtered_joint_states | sensor_msgs/JointState | 32852 | 0.001 | 1.137 |
/flippers_cmd | nifti_robot_driver_msgs/FlippersState | 15792 | ||
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 32851 | 0.001 | 1.046 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 3426 | 0.113 | 1.125 |
/husky_robot/subt_odom_part | nav_msgs/Odometry | 1455 | 0.001 | 0.01 |
/icp_odom | nav_msgs/Odometry | 952 | 3.561 | 12.211 |
/imu/data | sensor_msgs/Imu | 342592 | 0.001 | 0.879 |
/imu_odom | nav_msgs/Odometry | 342588 | 0.053 | 0.909 |
/joint_states | sensor_msgs/JointState | 32847 | 0.001 | 0.66 |
/local_joy/cmd_vel | geometry_msgs/Twist | 571 | ||
/local_joy/joy | sensor_msgs/Joy | 1858 | 0.001 | 0.063 |
/mux_cmd_vel/selected | std_msgs/String | 122 | ||
/mux_flipper_cmd/selected | std_msgs/String | 32692 | ||
/mux_flippers_cmd/selected | std_msgs/String | 32691 | ||
/mux_flippers_cmd_vel/selected | std_msgs/String | 32691 | ||
/mux_laser_center/selected | std_msgs/String | 62 | ||
/mux_posture_cmd/selected | std_msgs/String | 32691 | ||
/mux_posture_cmd_stamped/selected | std_msgs/String | 32691 | ||
/mux_scanning_speed_cmd/selected | std_msgs/String | 62 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 122 | ||
/nav/cmd_vel | geometry_msgs/Twist | 35893 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 3528 | 0.0 | 0.013 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 3180 | 0.0 | 0.012 |
/posture | std_msgs/Int32 | 32841 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 32863 | 0.001 | 0.059 |
/rosout | rosgraph_msgs/Log | 554215 | 0.702 | |
/rosout_agg | rosgraph_msgs/Log | 554157 | 0.564 | |
/scan | sensor_msgs/LaserScan | 178527 | 0.038 | 0.12 |
/scanning_speed_cmd | std_msgs/Float64 | 6280 | ||
/subt_odom | nav_msgs/Odometry | 3537 | 0.081 | 0.513 |
/teleop_joy/cmd_vel | geometry_msgs/Twist | 2757 | ||
/temperature | sensor_msgs/Temperature | 342501 | 0.001 | 0.081 |
/tf | tf2_msgs/TFMessage | 1049148 | ||
/tf_static | tf2_msgs/TFMessage | 557 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 32858 | 0.0 | 0.053 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 16802 | 0.236 | 1.056 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 16434 | 0.436 | 1.444 |
/viz/omnicam/image/compressed/parameter_descriptions | dynamic_reconfigure/ConfigDescription | 1 | ||
/viz/omnicam/image/compressed/parameter_updates | dynamic_reconfigure/Config | 1 |
Video
XY graph
Graph of X direction over time
Graph of Y direction over time
Graph of Z direction over time
Travelled distance over time
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