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dfki-robot/test/ugv_2019-08-15-05-10-32

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StartAugust 15 2019, 05:10
EndAugust 15 2019, 05:24
Duration13 mins, 38 secs
Messages819646
Size4 GiB
Distance4.2 m
Start of moving00:04:05
End of moving00:04:07
Average speed2.265 m/s
Point cloud mapclick to view
Controllerrobot gamepad, gamepad in PC, autonomous
Movement tagstayed in place
Moving jointslaser

Topics

Topic nameTypeMessagesAverage time delay [s]Max. time delay [s]
/adapt_trav_velgeometry_msgs/TwistStamped82010.0021.479
/adapt_trav_vel_ingeometry_msgs/TwistStamped81990.0031.283
/artifact_detectionsdarpa_msgs/Detections19113.1196.473
/artifact_detections3Ddarpa_msgs/DetectionPositions19113.1286.482
/battery_statussensor_msgs/BatteryState96900.0011.079
/cmd_velgeometry_msgs/Twist8199
/currentsnifti_robot_driver_msgs/CurrentsStamped96890.0010.971
/detection_localization/confirmed_hypothesesdarpa_msgs/LocalizationHypotheses80.00.001
/detection_localization/hypothesesdarpa_msgs/LocalizationHypotheses8190.0010.099
/diagnosticsdiagnostic_msgs/DiagnosticArray862920.0020.939
/diagnostics_aggdiagnostic_msgs/DiagnosticArray8190.00.201
/dynamic_point_cloudsensor_msgs/PointCloud22663.0023.104
/emergency_stopstd_msgs/Bool1
/exploration/goalssensor_msgs/PointCloud288
/exploration/pathnav_msgs/Path3110
/filtered_joint_statessensor_msgs/JointState96850.0010.663
/flippers_statenifti_robot_driver_msgs/FlippersStateStamped96850.0010.663
/gpio_statustradr_ft232h_gpio_driver_msgs/GpioStatus7360.1130.549
/icp_odomnav_msgs/Odometry2653.3023.639
/imu/datasensor_msgs/Imu781530.0010.604
/imu_odomnav_msgs/Odometry781570.0530.677
/joint_statessensor_msgs/JointState96830.0010.499
/local_joy/cmd_velgeometry_msgs/Twist978
/local_joy/joysensor_msgs/Joy82080.0010.427
/mux_cmd_vel/selectedstd_msgs/String17
/mux_flipper_cmd/selectedstd_msgs/String1
/mux_flippers_cmd/selectedstd_msgs/String1
/mux_flippers_cmd_vel/selectedstd_msgs/String1
/mux_laser_center/selectedstd_msgs/String9
/mux_posture_cmd/selectedstd_msgs/String1
/mux_posture_cmd_stamped/selectedstd_msgs/String1
/mux_scanning_speed_cmd/selectedstd_msgs/String9
/mux_tracks_vel_cmd/selectedstd_msgs/String17
/nav/cmd_velgeometry_msgs/Twist8189
/network/receiver_statsnimbro_topic_transport/ReceiverStats4910.00.004
/network/sender_statsnimbro_topic_transport/SenderStats3450.00.005
/posturestd_msgs/Int329680
/robot_statusnifti_robot_driver_msgs/RobotStatusStamped96770.00.015
/rosoutrosgraph_msgs/Log373448.253
/rosout_aggrosgraph_msgs/Log372780.0033.194
/scansensor_msgs/LaserScan406820.0380.116
/scanning_speed_cmdstd_msgs/Float641
/subt_odomnav_msgs/Odometry8170.0660.436
/teleop_joy/cmd_velgeometry_msgs/Twist27
/temperaturesensor_msgs/Temperature780570.0010.044
/tftf2_msgs/TFMessage244825
/tf_statictf2_msgs/TFMessage30
/tracks_velnifti_robot_driver_msgs/TracksStamped96720.00.041
/viz/omnicam/camera_infosensor_msgs/CameraInfo38710.2291.053
/viz/omnicam/image/compressedsensor_msgs/CompressedImage38480.3831.292
/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: -0.00101
	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