Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	2489	0.008	1.791
/adapt_trav_vel_in	geometry_msgs/TwistStamped	2488	0.01	1.697
/artifact_detections	darpa_msgs/Detections	512	3.549	8.196
/artifact_detections3D	darpa_msgs/DetectionPositions	512	3.556	8.203
/battery_status	sensor_msgs/BatteryState	2278	0.007	1.566
/cmd_vel	geometry_msgs/Twist	2962
/currents	nifti_robot_driver_msgs/CurrentsStamped	2277	0.006	1.451
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	5	0.002	0.003
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	242	0.001	0.011
/diagnostics	diagnostic_msgs/DiagnosticArray	26310	0.004	0.958
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	248	0.003	0.621
/dynamic_point_cloud	sensor_msgs/PointCloud2	63	3.866	53.734
/emergency_stop	std_msgs/Bool	3
/enable	std_msgs/Bool	2
/exploration/goals	sensor_msgs/PointCloud2	41	0.002	0.01
/exploration/path	nav_msgs/Path	1053
/filtered_joint_states	sensor_msgs/JointState	2273	0.005	1.047
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	982
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	2273	0.004	1.047
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	223	0.114	0.481
/icp_odom	nav_msgs/Odometry	61	3.73	7.787
/imu/data	sensor_msgs/Imu	23649	0.003	0.887
/imu_odom	nav_msgs/Odometry	23647	0.055	0.917
/joint_states	sensor_msgs/JointState	2271	0.003	0.874
/local_joy/cmd_vel	geometry_msgs/Twist	1464
/local_joy/joy	sensor_msgs/Joy	2478	0.003	0.72
/mux_cmd_vel/selected	std_msgs/String	5
/mux_flipper_cmd/selected	std_msgs/String	1968
/mux_flippers_cmd/selected	std_msgs/String	1967
/mux_flippers_cmd_vel/selected	std_msgs/String	1968
/mux_laser_center/selected	std_msgs/String	5
/mux_posture_cmd/selected	std_msgs/String	1968
/mux_posture_cmd_stamped/selected	std_msgs/String	1967
/mux_scanning_speed_cmd/selected	std_msgs/String	5
/mux_tracks_vel_cmd/selected	std_msgs/String	5
/nav/cmd_vel	geometry_msgs/Twist	2470
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	124	0.0	0.006
/network/sender_stats	nimbro_topic_transport/SenderStats	195	0.0	0.008
/posture	std_msgs/Int32	2265
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	2264	0.001	0.304
/rosout	rosgraph_msgs/Log	42338	0.478
/rosout_agg	rosgraph_msgs/Log	42255	0.375
/scan	sensor_msgs/LaserScan	12294	0.039	0.115
/scanning_speed_cmd	std_msgs/Float64	999
/subt_odom	nav_msgs/Odometry	174	0.086	0.502
/temperature	sensor_msgs/Temperature	23566	0.001	0.031
/tf	tf2_msgs/TFMessage	71406
/tf_static	tf2_msgs/TFMessage	393
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	2259	0.001	0.013
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	1158	0.234	1.032
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	1039	0.485	1.454
/viz/omnicam/image/compressed/parameter_descriptions	dynamic_reconfigure/ConfigDescription	1
/viz/omnicam/image/compressed/parameter_updates	dynamic_reconfigure/Config	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: -0.00101
	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