Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	1398	0.006	1.153
/adapt_trav_vel_in	geometry_msgs/TwistStamped	1397	0.007	1.058
/battery_status	sensor_msgs/BatteryState	1527	0.004	0.956
/cmd_vel	geometry_msgs/Twist	1387
/currents	nifti_robot_driver_msgs/CurrentsStamped	1526	0.004	0.923
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	139	0.002	0.242
/diagnostics	diagnostic_msgs/DiagnosticArray	14699	0.005	0.954
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	140	0.006	0.777
/dynamic_point_cloud	sensor_msgs/PointCloud2	45	2.989	3.065
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	8	15.642	117.651
/exploration/path	nav_msgs/Path	459
/filtered_joint_states	sensor_msgs/JointState	1524	0.004	0.771
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	1524	0.003	0.771
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	125	0.113	0.178
/icp_odom	nav_msgs/Odometry	7	4.928	8.976
/imu/data	sensor_msgs/Imu	13294	0.003	0.706
/imu_odom	nav_msgs/Odometry	13294	0.055	0.777
/joint_states	sensor_msgs/JointState	1524	0.003	0.683
/local_joy/joy	sensor_msgs/Joy	1394	0.003	0.581
/mux_cmd_vel/selected	std_msgs/String	2
/mux_flipper_cmd/selected	std_msgs/String	1
/mux_flippers_cmd/selected	std_msgs/String	1
/mux_flippers_cmd_vel/selected	std_msgs/String	1
/mux_laser_center/selected	std_msgs/String	1
/mux_posture_cmd/selected	std_msgs/String	1
/mux_posture_cmd_stamped/selected	std_msgs/String	1
/mux_scanning_speed_cmd/selected	std_msgs/String	1
/mux_tracks_vel_cmd/selected	std_msgs/String	2
/nav/cmd_vel	geometry_msgs/Twist	1383
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	70	0.001	0.005
/network/sender_stats	nimbro_topic_transport/SenderStats	67	0.0	0.003
/posture	std_msgs/Int32	1518
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	1517	0.001	0.148
/rosout	rosgraph_msgs/Log	2602	33.162
/rosout_agg	rosgraph_msgs/Log	2524	0.008	1.536
/scan	sensor_msgs/LaserScan	6882	0.038	0.08
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	16	0.143	0.502
/temperature	sensor_msgs/Temperature	13196	0.001	0.022
/tf	tf2_msgs/TFMessage	29980
/tf_static	tf2_msgs/TFMessage	10
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	1511	0.0	0.011
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	660	0.226	1.012
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	639	0.411	1.685
/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