Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	7502	0.002	1.33
/adapt_trav_vel_in	geometry_msgs/TwistStamped	7501	0.004	1.243
/artifact_detections	darpa_msgs/Detections	2031	3.128	9.251
/artifact_detections3D	darpa_msgs/DetectionPositions	2031	3.135	9.255
/battery_status	sensor_msgs/BatteryState	9475	0.001	1.097
/cmd_vel	geometry_msgs/Twist	9159
/currents	nifti_robot_driver_msgs/CurrentsStamped	9474	0.001	1.068
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	58	0.001	0.008
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	888	0.001	0.331
/diagnostics	diagnostic_msgs/DiagnosticArray	93536	0.002	0.942
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	888	0.0	0.052
/dynamic_point_cloud	sensor_msgs/PointCloud2	245	3.224	39.302
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	163	0.001	0.018
/exploration/path	nav_msgs/Path	3599
/filtered_joint_states	sensor_msgs/JointState	9413	0.001	0.663
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	2
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	9412	0.001	0.571
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	948	0.113	0.434
/icp_odom	nav_msgs/Odometry	242	3.412	11.27
/imu/data	sensor_msgs/Imu	84735	0.001	0.567
/imu_odom	nav_msgs/Odometry	84738	0.053	0.615
/joint_states	sensor_msgs/JointState	9412	0.001	0.571
/local_joy/cmd_vel	geometry_msgs/Twist	3280
/local_joy/joy	sensor_msgs/Joy	9196	0.001	0.439
/mux_cmd_vel/selected	std_msgs/String	93
/mux_flipper_cmd/selected	std_msgs/String	5
/mux_flippers_cmd/selected	std_msgs/String	5
/mux_flippers_cmd_vel/selected	std_msgs/String	5
/mux_laser_center/selected	std_msgs/String	47
/mux_posture_cmd/selected	std_msgs/String	5
/mux_posture_cmd_stamped/selected	std_msgs/String	5
/mux_scanning_speed_cmd/selected	std_msgs/String	47
/mux_tracks_vel_cmd/selected	std_msgs/String	93
/nav/cmd_vel	geometry_msgs/Twist	8879
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	444	0.0	0.013
/network/sender_stats	nimbro_topic_transport/SenderStats	546	0.0	0.004
/posture	std_msgs/Int32	9408
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	9465	0.0	0.24
/rosout	rosgraph_msgs/Log	19727	10.939
/rosout_agg	rosgraph_msgs/Log	19667	10.023
/scan	sensor_msgs/LaserScan	44111	0.038	0.093
/scanning_speed_cmd	std_msgs/Float64	5
/subt_odom	nav_msgs/Odometry	882	0.068	0.512
/temperature	sensor_msgs/Temperature	84660	0.001	0.052
/tf	tf2_msgs/TFMessage	263734
/tf_static	tf2_msgs/TFMessage	67
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	9453	0.0	0.026
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	4139	0.235	1.04
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	4120	0.395	1.323
/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