dfki-robot/test/ugv_2019-08-15-05-10-32
Download original bagDownload processed bagStart | August 15 2019, 05:10 |
End | August 15 2019, 05:24 |
Duration | 13 mins, 38 secs |
Messages | 819646 |
Size | 4 GiB |
Distance | 4.2 m |
Start of moving | 00:04:05 |
End of moving | 00:04:07 |
Average speed | 2.265 m/s |
Point cloud map | click to view |
Controller | robot gamepad, gamepad in PC, 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 | 8201 | 0.002 | 1.479 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 8199 | 0.003 | 1.283 |
/artifact_detections | darpa_msgs/Detections | 1911 | 3.119 | 6.473 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 1911 | 3.128 | 6.482 |
/battery_status | sensor_msgs/BatteryState | 9690 | 0.001 | 1.079 |
/cmd_vel | geometry_msgs/Twist | 8199 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 9689 | 0.001 | 0.971 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 8 | 0.0 | 0.001 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 819 | 0.001 | 0.099 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 86292 | 0.002 | 0.939 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 819 | 0.0 | 0.201 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 266 | 3.002 | 3.104 |
/emergency_stop | std_msgs/Bool | 1 | ||
/exploration/goals | sensor_msgs/PointCloud2 | 88 | ||
/exploration/path | nav_msgs/Path | 3110 | ||
/filtered_joint_states | sensor_msgs/JointState | 9685 | 0.001 | 0.663 |
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 9685 | 0.001 | 0.663 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 736 | 0.113 | 0.549 |
/icp_odom | nav_msgs/Odometry | 265 | 3.302 | 3.639 |
/imu/data | sensor_msgs/Imu | 78153 | 0.001 | 0.604 |
/imu_odom | nav_msgs/Odometry | 78157 | 0.053 | 0.677 |
/joint_states | sensor_msgs/JointState | 9683 | 0.001 | 0.499 |
/local_joy/cmd_vel | geometry_msgs/Twist | 978 | ||
/local_joy/joy | sensor_msgs/Joy | 8208 | 0.001 | 0.427 |
/mux_cmd_vel/selected | std_msgs/String | 17 | ||
/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 | 9 | ||
/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 | 9 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 17 | ||
/nav/cmd_vel | geometry_msgs/Twist | 8189 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 491 | 0.0 | 0.004 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 345 | 0.0 | 0.005 |
/posture | std_msgs/Int32 | 9680 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 9677 | 0.0 | 0.015 |
/rosout | rosgraph_msgs/Log | 37344 | 8.253 | |
/rosout_agg | rosgraph_msgs/Log | 37278 | 0.003 | 3.194 |
/scan | sensor_msgs/LaserScan | 40682 | 0.038 | 0.116 |
/scanning_speed_cmd | std_msgs/Float64 | 1 | ||
/subt_odom | nav_msgs/Odometry | 817 | 0.066 | 0.436 |
/teleop_joy/cmd_vel | geometry_msgs/Twist | 27 | ||
/temperature | sensor_msgs/Temperature | 78057 | 0.001 | 0.044 |
/tf | tf2_msgs/TFMessage | 244825 | ||
/tf_static | tf2_msgs/TFMessage | 30 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 9672 | 0.0 | 0.041 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 3871 | 0.229 | 1.053 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 3848 | 0.383 | 1.292 |
/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