Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	7383	0.004	2.137
/adapt_trav_vel_in	geometry_msgs/TwistStamped	7382	0.006	2.041
/artifact_detections	darpa_msgs/Detections	1883	3.803	7.193
/artifact_detections3D	darpa_msgs/DetectionPositions	1883	3.81	7.2
/battery_status	sensor_msgs/BatteryState	6851	0.004	1.817
/cmd_vel	geometry_msgs/Twist	7365
/currents	nifti_robot_driver_msgs/CurrentsStamped	6849	0.003	1.592
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	22	0.001	0.006
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	737	0.002	0.897
/dfki_robot/subt_odom_part	nav_msgs/Odometry	355	0.001	0.008
/diagnostics	diagnostic_msgs/DiagnosticArray	79824	0.002	0.946
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	737	0.002	0.707
/dynamic_point_cloud	sensor_msgs/PointCloud2	238	3.041	9.103
/emergency_stop	std_msgs/Bool	1
/exploration/path	nav_msgs/Path	2948
/filtered_joint_states	sensor_msgs/JointState	6841	0.002	0.936
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	3683
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	6841	0.002	0.936
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	663	0.113	0.762
/husky_robot/subt_odom_part	nav_msgs/Odometry	341	0.001	0.008
/icp_odom	nav_msgs/Odometry	236	3.497	9.879
/imu/data	sensor_msgs/Imu	70288	0.001	0.749
/imu_odom	nav_msgs/Odometry	70286	0.054	0.773
/joint_states	sensor_msgs/JointState	6838	0.001	0.692
/local_joy/joy	sensor_msgs/Joy	7350	0.002	0.736
/mux_cmd_vel/selected	std_msgs/String	2
/mux_flipper_cmd/selected	std_msgs/String	7367
/mux_flippers_cmd/selected	std_msgs/String	7368
/mux_flippers_cmd_vel/selected	std_msgs/String	7368
/mux_laser_center/selected	std_msgs/String	1
/mux_posture_cmd/selected	std_msgs/String	7367
/mux_posture_cmd_stamped/selected	std_msgs/String	7367
/mux_scanning_speed_cmd/selected	std_msgs/String	1
/mux_tracks_vel_cmd/selected	std_msgs/String	2
/nav/cmd_vel	geometry_msgs/Twist	7365
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	368	0.001	0.009
/network/sender_stats	nimbro_topic_transport/SenderStats	395	0.001	0.008
/posture	std_msgs/Int32	6834
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	6833	0.001	0.243
/rosout	rosgraph_msgs/Log	127186	0.494
/rosout_agg	rosgraph_msgs/Log	127081	0.023	5.771
/scan	sensor_msgs/LaserScan	36743	0.039	0.132
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	732	0.089	0.507
/temperature	sensor_msgs/Temperature	70201	0.001	0.104
/tf	tf2_msgs/TFMessage	214594
/tf_static	tf2_msgs/TFMessage	1420
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	6828	0.001	0.035
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	3475	0.234	1.039
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	3288	0.489	1.268
/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	4439	0.001	0.093
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	4439	0.01	0.093
camera/depth/camera_info	sensor_msgs/CameraInfo	4411	0.011	0.093
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	4411	0.08	0.172
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