dfki-robot/test/ugv_2019-08-15-19-17-06
Download original bagDownload processed bagStart | August 15 2019, 19:17 |
End | August 15 2019, 19:23 |
Duration | 6 mins, 46 secs |
Messages | 390306 |
Size | 2 GiB |
Distance | 42.4 m |
Start of moving | 00:00:34 |
End of moving | 00:06:10 |
Average speed | 0.127 m/s |
Point cloud map | click to view |
Controller | robot gamepad, gamepad in PC, autonomous |
Movement tag | overcame obstacle |
Moving joints | laser |
front left flipper | |
front right flipper | |
rear left flipper | |
rear right flipper |
Topics
Topic name | Type | Messages | Average time delay [s] | Max. time delay [s] |
---|---|---|---|---|
/adapt_trav_vel | geometry_msgs/TwistStamped | 4078 | 0.002 | 1.139 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 4077 | 0.004 | 1.042 |
/artifact_detections | darpa_msgs/Detections | 1009 | 3.011 | 6.014 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 1009 | 3.016 | 6.022 |
/battery_status | sensor_msgs/BatteryState | 4753 | 0.002 | 1.061 |
/cmd_vel | geometry_msgs/Twist | 3838 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 4752 | 0.002 | 1.033 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 12 | 0.001 | 0.004 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 407 | 0.001 | 0.172 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 42921 | 0.002 | 0.845 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 407 | 0.001 | 0.162 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 132 | 3.01 | 6.114 |
/emergency_stop | std_msgs/Bool | 1 | ||
/exploration/goals | sensor_msgs/PointCloud2 | 126 | 0.002 | 0.009 |
/exploration/path | nav_msgs/Path | 1681 | ||
/filtered_joint_states | sensor_msgs/JointState | 4747 | 0.001 | 0.562 |
/flippers_cmd | nifti_robot_driver_msgs/FlippersState | 4 | ||
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 4747 | 0.001 | 0.562 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 366 | 0.113 | 0.434 |
/icp_odom | nav_msgs/Odometry | 130 | 3.399 | 6.621 |
/imu/data | sensor_msgs/Imu | 38850 | 0.001 | 0.618 |
/imu_odom | nav_msgs/Odometry | 38851 | 0.053 | 0.7 |
/joint_states | sensor_msgs/JointState | 4747 | 0.001 | 0.562 |
/local_joy/cmd_vel | geometry_msgs/Twist | 1110 | ||
/local_joy/joy | sensor_msgs/Joy | 4186 | 0.001 | 0.391 |
/mux_cmd_vel/selected | std_msgs/String | 70 | ||
/mux_flipper_cmd/selected | std_msgs/String | 11 | ||
/mux_flippers_cmd/selected | std_msgs/String | 11 | ||
/mux_flippers_cmd_vel/selected | std_msgs/String | 11 | ||
/mux_laser_center/selected | std_msgs/String | 30 | ||
/mux_posture_cmd/selected | std_msgs/String | 11 | ||
/mux_posture_cmd_stamped/selected | std_msgs/String | 11 | ||
/mux_scanning_speed_cmd/selected | std_msgs/String | 30 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 70 | ||
/nav/cmd_vel | geometry_msgs/Twist | 4069 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 328 | 0.0 | 0.004 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 235 | 0.0 | 0.004 |
/posture | std_msgs/Int32 | 4742 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 4742 | 0.0 | 0.157 |
/rosout | rosgraph_msgs/Log | 10439 | 0.188 | 60.039 |
/rosout_agg | rosgraph_msgs/Log | 10364 | 0.006 | 5.38 |
/scan | sensor_msgs/LaserScan | 20222 | 0.038 | 0.074 |
/scanning_speed_cmd | std_msgs/Float64 | 1 | ||
/subt_odom | nav_msgs/Odometry | 395 | 0.072 | 0.513 |
/teleop_joy/cmd_vel | geometry_msgs/Twist | 23 | ||
/temperature | sensor_msgs/Temperature | 38747 | 0.001 | 0.037 |
/tf | tf2_msgs/TFMessage | 120331 | ||
/tf_static | tf2_msgs/TFMessage | 16 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 4733 | 0.0 | 0.012 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 1865 | 0.243 | 1.036 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 1856 | 0.402 | 1.351 |
/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