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ctu-robot/run2-experimental/ugv_2019-08-18-19-42-06

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StartAugust 18 2019, 19:42
EndAugust 18 2019, 20:59
Duration77 mins, 5 secs
Messages5816594
Size29 GiB
Distance254.6 m
Start of moving00:06:14
End of moving01:15:04
Average speed0.062 m/s
Point cloud mapclick to view
Controllerrobot gamepad, gamepad in PC, autonomous
Movement tagovercame obstacle
Moving jointslaser
front left flipper
front right flipper
rear left flipper
rear right flipper

Topics

Topic nameTypeMessagesAverage time delay [s]Max. time delay [s]
/adapt_trav_velgeometry_msgs/TwistStamped462810.0012.296
/adapt_trav_vel_ingeometry_msgs/TwistStamped462800.0032.216
/artifact_detectionsdarpa_msgs/Detections120213.6319.618
/artifact_detections3Ddarpa_msgs/DetectionPositions120213.6369.618
/battery_statussensor_msgs/BatteryState442390.0011.722
/cmd_velgeometry_msgs/Twist49429
/currentsnifti_robot_driver_msgs/CurrentsStamped442360.0011.409
/detection_localization/confirmed_hypothesesdarpa_msgs/LocalizationHypotheses800.0010.006
/detection_localization/hypothesesdarpa_msgs/LocalizationHypotheses46210.0010.017
/dfki_robot/subt_odom_partnav_msgs/Odometry15290.0010.009
/diagnosticsdiagnostic_msgs/DiagnosticArray4902830.0010.926
/diagnostics_aggdiagnostic_msgs/DiagnosticArray46260.0010.252
/dynamic_point_cloudsensor_msgs/PointCloud213953.0229.158
/emergency_stopstd_msgs/Bool2
/enablestd_msgs/Bool1
/exploration/goalssensor_msgs/PointCloud280
/exploration/pathnav_msgs/Path18488
/filtered_joint_statessensor_msgs/JointState442300.0010.853
/flippers_cmdnifti_robot_driver_msgs/FlippersState21549
/flippers_statenifti_robot_driver_msgs/FlippersStateStamped442290.0010.771
/gpio_statustradr_ft232h_gpio_driver_msgs/GpioStatus41570.1120.123
/husky_robot/subt_odom_partnav_msgs/Odometry16680.0010.01
/icp_odomnav_msgs/Odometry13843.4949.974
/imu/datasensor_msgs/Imu4413180.0010.654
/imu_odomnav_msgs/Odometry4413080.0530.609
/joint_statessensor_msgs/JointState442260.0010.498
/local_joy/cmd_velgeometry_msgs/Twist872
/local_joy/joysensor_msgs/Joy461780.0010.396
/mux_cmd_vel/selectedstd_msgs/String58
/mux_flipper_cmd/selectedstd_msgs/String43095
/mux_flippers_cmd/selectedstd_msgs/String43095
/mux_flippers_cmd_vel/selectedstd_msgs/String43095
/mux_laser_center/selectedstd_msgs/String30
/mux_posture_cmd/selectedstd_msgs/String43095
/mux_posture_cmd_stamped/selectedstd_msgs/String43095
/mux_scanning_speed_cmd/selectedstd_msgs/String30
/mux_tracks_vel_cmd/selectedstd_msgs/String58
/nav/cmd_velgeometry_msgs/Twist46257
/network/receiver_statsnimbro_topic_transport/ReceiverStats45730.00.01
/network/sender_statsnimbro_topic_transport/SenderStats41940.00.019
/posturestd_msgs/Int3244223
/robot_statusnifti_robot_driver_msgs/RobotStatusStamped442230.00.148
/rosoutrosgraph_msgs/Log7326990.096
/rosout_aggrosgraph_msgs/Log7325620.029
/scansensor_msgs/LaserScan2304910.0380.096
/scanning_speed_cmdstd_msgs/Float646330
/subt_odomnav_msgs/Odometry44650.0820.51
/teleop_joy/cmd_velgeometry_msgs/Twist1010
/temperaturesensor_msgs/Temperature4412400.0010.043
/tftf2_msgs/TFMessage1353275
/tf_statictf2_msgs/TFMessage1440
/tracks_velnifti_robot_driver_msgs/TracksStamped442200.00.03
/viz/omnicam/camera_infosensor_msgs/CameraInfo215550.2371.055
/viz/omnicam/image/compressedsensor_msgs/CompressedImage214530.4131.355
/viz/omnicam/image/compressed/parameter_descriptionsdynamic_reconfigure/ConfigDescription1
/viz/omnicam/image/compressed/parameter_updatesdynamic_reconfigure/Config1

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: -0.01
	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