Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	28933	0.001	1.895
/adapt_trav_vel_in	geometry_msgs/TwistStamped	28931	0.003	1.715
/artifact_detections	darpa_msgs/Detections	10090	3.174	7.901
/artifact_detections3D	darpa_msgs/DetectionPositions	10090	3.179	7.912
/battery_status	sensor_msgs/BatteryState	22473	0.001	1.659
/cmd_vel	geometry_msgs/Twist	69545
/currents	nifti_robot_driver_msgs/CurrentsStamped	22471	0.001	1.434
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	32	0.001	0.004
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	4056	0.001	0.74
/diagnostics	diagnostic_msgs/DiagnosticArray	427767	0.001	0.945
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	4056	0.001	0.593
/dynamic_point_cloud	sensor_msgs/PointCloud2	319	3.328	47.952
/emergency_stop	std_msgs/Bool	10
/enable	std_msgs/Bool	9
/exploration/goals	sensor_msgs/PointCloud2	10
/exploration/path	nav_msgs/Path	16769
/filtered_joint_states	sensor_msgs/JointState	22468	0.001	1.193
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	5274
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	22468	0.001	1.193
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	5088	0.114	0.724
/icp_odom	nav_msgs/Odometry	315	3.545	10.029
/imu/data	sensor_msgs/Imu	386915	0.001	1.052
/imu_odom	nav_msgs/Odometry	386911	0.053	1.068
/joint_states	sensor_msgs/JointState	22467	0.001	1.103
/local_joy/cmd_vel	geometry_msgs/Twist	360
/local_joy/joy	sensor_msgs/Joy	4812	0.002	0.927
/mux_cmd_vel/selected	std_msgs/String	19
/mux_flipper_cmd/selected	std_msgs/String	11465
/mux_flippers_cmd/selected	std_msgs/String	11464
/mux_flippers_cmd_vel/selected	std_msgs/String	11465
/mux_laser_center/selected	std_msgs/String	14
/mux_posture_cmd/selected	std_msgs/String	11465
/mux_posture_cmd_stamped/selected	std_msgs/String	11465
/mux_scanning_speed_cmd/selected	std_msgs/String	14
/mux_tracks_vel_cmd/selected	std_msgs/String	19
/nav/cmd_vel	geometry_msgs/Twist	40541
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	3967	0.0	0.319
/network/sender_stats	nimbro_topic_transport/SenderStats	3405	0.0	0.028
/posture	std_msgs/Int32	22458
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	22456	0.0	0.158
/rosout	rosgraph_msgs/Log	250206	0.149
/rosout_agg	rosgraph_msgs/Log	250109	0.141
/scan	sensor_msgs/LaserScan	201589	0.038	0.126
/scanning_speed_cmd	std_msgs/Float64	58032
/subt_odom	nav_msgs/Odometry	4022	0.055	0.523
/temperature	sensor_msgs/Temperature	386785	0.001	0.065
/tf	tf2_msgs/TFMessage	1209797
/tf_static	tf2_msgs/TFMessage	906
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	22452	0.0	0.059
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	19123	0.23	1.039
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	18868	0.39	1.438
/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