dfki-robot/test/ugv_2019-08-15-21-58-39
Download original bagDownload processed bagStart | August 15 2019, 21:58 |
End | August 15 2019, 22:02 |
Duration | 3 mins, 59 secs |
Messages | 226544 |
Size | 1 GiB |
Distance | 4.5 m |
Start of moving | 00:01:53 |
End of moving | 00:02:48 |
Average speed | 0.083 m/s |
Point cloud map | click to view |
Controller | robot gamepad |
Movement tag | observation, overcame obstacle |
Moving joints | laser |
Topics
Topic name | Type | Messages | Average time delay [s] | Max. time delay [s] |
---|---|---|---|---|
/adapt_trav_vel | geometry_msgs/TwistStamped | 2426 | 0.018 | 2.847 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 2421 | 0.015 | 2.452 |
/artifact_detections | darpa_msgs/Detections | 566 | 3.097 | 6.402 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 566 | 3.108 | 6.404 |
/battery_status | sensor_msgs/BatteryState | 2953 | 0.005 | 1.478 |
/cmd_vel | geometry_msgs/Twist | 248 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 2953 | 0.004 | 1.441 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 241 | 0.004 | 0.964 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 25332 | 0.003 | 0.941 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 241 | 0.003 | 0.531 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 78 | 2.998 | 3.071 |
/emergency_stop | std_msgs/Bool | 276 | ||
/filtered_joint_states | sensor_msgs/JointState | 2949 | 0.004 | 1.062 |
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 2948 | 0.003 | 0.97 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 216 | 0.114 | 0.464 |
/icp_odom | nav_msgs/Odometry | 77 | 3.313 | 3.495 |
/imu/data | sensor_msgs/Imu | 22976 | 0.002 | 0.836 |
/imu_odom | nav_msgs/Odometry | 22962 | 0.054 | 0.759 |
/joint_states | sensor_msgs/JointState | 2945 | 0.002 | 0.714 |
/local_joy/cmd_vel | geometry_msgs/Twist | 248 | ||
/local_joy/joy | sensor_msgs/Joy | 2453 | 0.002 | 0.683 |
/mux_cmd_vel/selected | std_msgs/String | 16 | ||
/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 | 7 | ||
/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 | 7 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 15 | ||
/posture | std_msgs/Int32 | 2939 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 2939 | 0.001 | 0.163 |
/rosout | rosgraph_msgs/Log | 6435 | 36.157 | |
/rosout_agg | rosgraph_msgs/Log | 6354 | 33.184 | |
/scan | sensor_msgs/LaserScan | 11939 | 0.038 | 0.081 |
/scanning_speed_cmd | std_msgs/Float64 | 1 | ||
/temperature | sensor_msgs/Temperature | 22893 | 0.001 | 0.026 |
/tf | tf2_msgs/TFMessage | 71771 | ||
/tf_static | tf2_msgs/TFMessage | 3 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 2934 | 0.0 | 0.012 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 1105 | 0.241 | 1.023 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 1104 | 0.416 | 1.259 |
/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