dfki-robot/test/ugv_2019-08-15-19-45-28
Download original bagDownload processed bagStart | August 15 2019, 19:45 |
End | August 15 2019, 19:53 |
Duration | 8 mins, 4 secs |
Messages | 463128 |
Size | 3 GiB |
Distance | 1.4 m |
Start of moving | 00:00:06 |
End of moving | 00:00:45 |
Average speed | 0.038 m/s |
Point cloud map | click to view |
Controller | robot gamepad, autonomous |
Movement tag | stayed in place |
Moving joints | laser |
Topics
Topic name | Type | Messages | Average time delay [s] | Max. time delay [s] |
---|---|---|---|---|
/adapt_trav_vel | geometry_msgs/TwistStamped | 4858 | 0.002 | 1.344 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 4857 | 0.004 | 1.246 |
/artifact_detections | darpa_msgs/Detections | 1003 | 3.12 | 7.79 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 1003 | 3.129 | 7.792 |
/battery_status | sensor_msgs/BatteryState | 6147 | 0.001 | 1.04 |
/cmd_vel | geometry_msgs/Twist | 536 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 6146 | 0.001 | 0.925 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 14 | 0.001 | 0.003 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 486 | 0.002 | 0.58 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 51117 | 0.002 | 0.809 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 486 | 0.001 | 0.559 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 158 | 2.993 | 3.101 |
/emergency_stop | std_msgs/Bool | 1 | ||
/exploration/goals | sensor_msgs/PointCloud2 | 155 | 0.001 | 0.011 |
/exploration/path | nav_msgs/Path | 2121 | ||
/filtered_joint_states | sensor_msgs/JointState | 6142 | 0.001 | 0.585 |
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 6142 | 0.001 | 0.585 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 436 | 0.114 | 0.661 |
/icp_odom | nav_msgs/Odometry | 157 | 3.296 | 3.631 |
/imu/data | sensor_msgs/Imu | 46286 | 0.001 | 0.485 |
/imu_odom | nav_msgs/Odometry | 46289 | 0.053 | 0.555 |
/joint_states | sensor_msgs/JointState | 6141 | 0.001 | 0.498 |
/local_joy/cmd_vel | geometry_msgs/Twist | 482 | ||
/local_joy/joy | sensor_msgs/Joy | 4862 | 0.001 | 0.423 |
/mux_cmd_vel/selected | std_msgs/String | 14 | ||
/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 | 8 | ||
/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 | 8 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 14 | ||
/nav/cmd_vel | geometry_msgs/Twist | 4850 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 243 | 0.0 | 0.004 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 253 | 0.0 | 0.004 |
/posture | std_msgs/Int32 | 6138 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 6136 | 0.0 | 0.073 |
/rosout | rosgraph_msgs/Log | 11480 | 3.89 | |
/rosout_agg | rosgraph_msgs/Log | 11402 | 0.003 | 5.057 |
/scan | sensor_msgs/LaserScan | 24059 | 0.038 | 0.074 |
/subt_odom | nav_msgs/Odometry | 483 | 0.066 | 0.365 |
/temperature | sensor_msgs/Temperature | 46170 | 0.001 | 0.023 |
/tf | tf2_msgs/TFMessage | 145149 | ||
/tf_static | tf2_msgs/TFMessage | 7 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 6126 | 0.0 | 0.014 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 2281 | 0.23 | 1.036 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 2275 | 0.387 | 1.295 |
/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