dfki-robot/test/ugv_2019-08-15-03-12-47
Download original bagDownload processed bagStart | August 15 2019, 03:12 |
End | August 15 2019, 05:10 |
Duration | 117 mins, 14 secs |
Messages | 7250405 |
Size | 43 GiB |
Distance | 108.0 m |
Start of moving | 00:00:21 |
End of moving | 00:57:35 |
Average speed | 0.031 m/s |
Point cloud map | click to view |
Controller | robot gamepad, gamepad in PC, autonomous |
Movement tag | overcame obstacle |
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 | 70357 | 0.001 | 0.967 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 70356 | 0.003 | 0.873 |
/artifact_detections | darpa_msgs/Detections | 9441 | 3.164 | 6.967 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 9441 | 3.168 | 6.974 |
/battery_status | sensor_msgs/BatteryState | 82633 | 0.0 | 0.784 |
/cmd_vel | geometry_msgs/Twist | 70838 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 82632 | 0.0 | 0.666 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 50 | 0.0 | 0.003 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 7035 | 0.0 | 0.304 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 740822 | 0.001 | 0.68 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 7035 | 0.0 | 0.105 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 2256 | 3.036 | 58.387 |
/emergency_stop | std_msgs/Bool | 3 | ||
/enable | std_msgs/Bool | 2 | ||
/exploration/goals | sensor_msgs/PointCloud2 | 589 | 1.545 | 3.5 |
/exploration/path | nav_msgs/Path | 27807 | ||
/filtered_joint_states | sensor_msgs/JointState | 82630 | 0.001 | 0.495 |
/flippers_cmd | nifti_robot_driver_msgs/FlippersState | 21 | ||
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 82630 | 0.0 | 0.494 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 6339 | 0.112 | 0.224 |
/icp_odom | nav_msgs/Odometry | 2252 | 3.284 | 3.724 |
/imu/data | sensor_msgs/Imu | 671155 | 0.001 | 0.526 |
/imu_odom | nav_msgs/Odometry | 671154 | 0.053 | 0.572 |
/joint_states | sensor_msgs/JointState | 82630 | 0.0 | 0.495 |
/local_joy/cmd_vel | geometry_msgs/Twist | 1190 | ||
/local_joy/joy | sensor_msgs/Joy | 35375 | 0.001 | 0.353 |
/mux_cmd_vel/selected | std_msgs/String | 1215 | ||
/mux_flipper_cmd/selected | std_msgs/String | 45 | ||
/mux_flippers_cmd/selected | std_msgs/String | 45 | ||
/mux_flippers_cmd_vel/selected | std_msgs/String | 45 | ||
/mux_laser_center/selected | std_msgs/String | 45 | ||
/mux_posture_cmd/selected | std_msgs/String | 45 | ||
/mux_posture_cmd_stamped/selected | std_msgs/String | 45 | ||
/mux_scanning_speed_cmd/selected | std_msgs/String | 45 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 1215 | ||
/nav/cmd_vel | geometry_msgs/Twist | 70349 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 3518 | 0.0 | 0.011 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 6959 | 0.0 | 0.02 |
/posture | std_msgs/Int32 | 82626 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 82626 | 0.0 | 0.143 |
/rosout | rosgraph_msgs/Log | 451060 | 0.708 | |
/rosout_agg | rosgraph_msgs/Log | 450997 | 0.317 | |
/scan | sensor_msgs/LaserScan | 346935 | 0.038 | 0.095 |
/scanning_speed_cmd | std_msgs/Float64 | 599 | ||
/subt_odom | nav_msgs/Odometry | 7029 | 0.065 | 0.502 |
/teleop_joy/cmd_vel | geometry_msgs/Twist | 38 | ||
/temperature | sensor_msgs/Temperature | 671055 | 0.001 | 0.044 |
/tf | tf2_msgs/TFMessage | 2108448 | ||
/tf_static | tf2_msgs/TFMessage | 8 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 82618 | 0.0 | 0.022 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 33081 | 0.232 | 1.071 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 33039 | 0.385 | 1.637 |
/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