ctu-robot/test/ugv_2019-08-21-15-45-08
Download original bagDownload processed bagStart | August 21 2019, 15:45 |
End | August 21 2019, 15:50 |
Duration | 5 mins, 50 secs |
Messages | 503261 |
Size | 3 GiB |
Distance | 2.4 m |
Start of moving | 00:01:51 |
End of moving | 00:02:10 |
Average speed | 0.131 m/s |
Point cloud map | click to view |
Controller | robot gamepad, autonomous |
Movement tag | general movement |
Moving joints | laser |
Topics
Topic name | Type | Messages | Average time delay [s] | Max. time delay [s] |
---|---|---|---|---|
/adapt_trav_vel | geometry_msgs/TwistStamped | 3526 | 0.008 | 2.037 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 3523 | 0.008 | 1.743 |
/artifact_detections | darpa_msgs/Detections | 759 | 3.904 | 8.963 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 759 | 3.91 | 8.976 |
/battery_status | sensor_msgs/BatteryState | 3216 | 0.005 | 1.613 |
/cmd_vel | geometry_msgs/Twist | 3520 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 3214 | 0.004 | 1.494 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 13 | 0.002 | 0.004 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 347 | 0.001 | 0.009 |
/dfki_robot/subt_odom_part | nav_msgs/Odometry | 149 | 0.001 | 0.007 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 38069 | 0.003 | 0.95 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 352 | 0.003 | 0.775 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 114 | 3.024 | 3.58 |
/emergency_stop | std_msgs/Bool | 1 | ||
/exploration/path | nav_msgs/Path | 1406 | ||
/filtered_joint_states | sensor_msgs/JointState | 3208 | 0.003 | 0.879 |
/flippers_cmd | nifti_robot_driver_msgs/FlippersState | 1753 | ||
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 3206 | 0.002 | 0.688 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 315 | 0.113 | 0.12 |
/husky_robot/subt_odom_part | nav_msgs/Odometry | 175 | 0.001 | 0.012 |
/icp_odom | nav_msgs/Odometry | 113 | 3.497 | 3.746 |
/imu/data | sensor_msgs/Imu | 33503 | 0.002 | 0.681 |
/imu_odom | nav_msgs/Odometry | 33505 | 0.054 | 0.729 |
/joint_states | sensor_msgs/JointState | 3205 | 0.002 | 0.604 |
/local_joy/cmd_vel | geometry_msgs/Twist | 2072 | ||
/local_joy/joy | sensor_msgs/Joy | 3506 | 0.002 | 0.524 |
/mux_cmd_vel/selected | std_msgs/String | 2878 | ||
/mux_flipper_cmd/selected | std_msgs/String | 3509 | ||
/mux_flippers_cmd/selected | std_msgs/String | 3509 | ||
/mux_flippers_cmd_vel/selected | std_msgs/String | 3509 | ||
/mux_laser_center/selected | std_msgs/String | 1 | ||
/mux_posture_cmd/selected | std_msgs/String | 3509 | ||
/mux_posture_cmd_stamped/selected | std_msgs/String | 3509 | ||
/mux_scanning_speed_cmd/selected | std_msgs/String | 1 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 2878 | ||
/nav/cmd_vel | geometry_msgs/Twist | 3505 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 175 | 0.001 | 0.009 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 230 | 0.001 | 0.009 |
/posture | std_msgs/Int32 | 3201 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 3201 | 0.001 | 0.145 |
/rosout | rosgraph_msgs/Log | 79175 | 0.635 | |
/rosout_agg | rosgraph_msgs/Log | 79022 | 0.024 | 4.644 |
/scan | sensor_msgs/LaserScan | 17481 | 0.039 | 0.084 |
/scanning_speed_cmd | std_msgs/Float64 | 1 | ||
/subt_odom | nav_msgs/Odometry | 343 | 0.088 | 0.514 |
/temperature | sensor_msgs/Temperature | 33413 | 0.001 | 0.027 |
/tf | tf2_msgs/TFMessage | 101841 | ||
/tf_static | tf2_msgs/TFMessage | 55 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 3196 | 0.001 | 0.016 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 1668 | 0.231 | 1.026 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 1513 | 0.516 | 1.396 |
/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 | 2108 | 0.002 | 0.015 |
camera/color/image_raw/compressed | sensor_msgs/CompressedImage | 2108 | 0.011 | 0.038 |
camera/depth/camera_info | sensor_msgs/CameraInfo | 2095 | 0.011 | 0.043 |
camera/depth/image_rect_raw/compressed | sensor_msgs/CompressedImage | 2095 | 0.083 | 0.185 |
camera/extrinsics/depth_to_color | realsense2_camera/Extrinsics | 1 |
Video
Realsense camera color video
Realsense camera depth 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: -0.01 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