Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	47070	0.001	2.717
/adapt_trav_vel_in	geometry_msgs/TwistStamped	47068	0.004	2.532
/artifact_detections	darpa_msgs/Detections	12137	3.847	8.834
/artifact_detections3D	darpa_msgs/DetectionPositions	12137	3.853	8.841
/battery_status	sensor_msgs/BatteryState	48686	0.001	2.193
/cmd_vel	geometry_msgs/Twist	39577
/currents	nifti_robot_driver_msgs/CurrentsStamped	48683	0.001	1.846
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	317	0.002	0.018
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	4840	0.002	0.857
/dfki_robot/subt_odom_part	nav_msgs/Odometry	2591	0.001	0.02
/diagnostics	diagnostic_msgs/DiagnosticArray	526862	0.002	0.946
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	4841	0.001	1.29
/dynamic_point_cloud	sensor_msgs/PointCloud2	1527	3.065	47.462
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	134
/exploration/path	nav_msgs/Path	19104
/filtered_joint_states	sensor_msgs/JointState	48664	0.002	1.011
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	19053
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	48664	0.001	1.011
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	4514	0.112	0.224
/husky_robot/subt_odom_part	nav_msgs/Odometry	473	0.001	0.009
/icp_odom	nav_msgs/Odometry	1455	3.536	12.531
/imu/data	sensor_msgs/Imu	461704	0.001	0.966
/imu_odom	nav_msgs/Odometry	461703	0.053	0.983
/joint_states	sensor_msgs/JointState	48663	0.001	0.908
/local_joy/cmd_vel	geometry_msgs/Twist	10816
/local_joy/joy	sensor_msgs/Joy	48378	0.001	0.907
/mux_cmd_vel/selected	std_msgs/String	2939
/mux_flipper_cmd/selected	std_msgs/String	37447
/mux_flippers_cmd/selected	std_msgs/String	37447
/mux_flippers_cmd_vel/selected	std_msgs/String	37447
/mux_laser_center/selected	std_msgs/String	57
/mux_posture_cmd/selected	std_msgs/String	37446
/mux_posture_cmd_stamped/selected	std_msgs/String	37447
/mux_scanning_speed_cmd/selected	std_msgs/String	57
/mux_tracks_vel_cmd/selected	std_msgs/String	2939
/nav/cmd_vel	geometry_msgs/Twist	39605
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	4722	0.001	0.028
/network/sender_stats	nimbro_topic_transport/SenderStats	4363	0.0	0.013
/posture	std_msgs/Int32	48656
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	48666	0.001	0.216
/rosout	rosgraph_msgs/Log	694770	0.837
/rosout_agg	rosgraph_msgs/Log	694596	0.816
/scan	sensor_msgs/LaserScan	240960	0.038	0.098
/scanning_speed_cmd	std_msgs/Float64	4
/subt_odom	nav_msgs/Odometry	4753	0.083	0.556
/teleop_joy/cmd_vel	geometry_msgs/Twist	232
/temperature	sensor_msgs/Temperature	461573	0.001	0.059
/tf	tf2_msgs/TFMessage	1407854
/tf_static	tf2_msgs/TFMessage	1143
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	48660	0.001	0.05
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	22789	0.234	1.061
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	22054	0.455	1.454
/viz/omnicam/image/compressed/parameter_descriptions	dynamic_reconfigure/ConfigDescription	1
/viz/omnicam/image/compressed/parameter_updates	dynamic_reconfigure/Config	1
camera/color/camera_info	sensor_msgs/CameraInfo	29217	0.001	0.024
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	29217	0.008	0.063
camera/depth/camera_info	sensor_msgs/CameraInfo	29027	0.008	0.063
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	29027	0.069	0.153
camera/extrinsics/depth_to_color	realsense2_camera/Extrinsics	1

Video

XY graph

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: -0.01
	realsense_shift_x: 0.02
	realsense_shift_y: 0.04
	realsense_shift_z: 0.05
	realsense_tilt: 0.47
	realsense_upside_down: False
	realsense_yaw: -0.05
	top_box_j_x: 0.476
	velodyne_x_offset: 0.41
	velodyne_yaw: -1.84