Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	53255	0.001	1.765
/adapt_trav_vel_in	geometry_msgs/TwistStamped	53254	0.003	1.67
/battery_status	sensor_msgs/BatteryState	56048	0.001	1.473
/cmd_vel	geometry_msgs/Twist	70102
/currents	nifti_robot_driver_msgs/CurrentsStamped	56046	0.001	1.26
/dfki_robot/subt_odom_part	nav_msgs/Odometry	2019	0.0	0.011
/diagnostics	diagnostic_msgs/DiagnosticArray	656546	0.001	0.9
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	6048	0.001	0.421
/dynamic_point_cloud	sensor_msgs/PointCloud2	1365	3.272	58.475
/emergency_stop	std_msgs/Bool	3
/enable	std_msgs/Bool	2
/exploration/goals	sensor_msgs/PointCloud2	57
/exploration/path	nav_msgs/Path	23692
/filtered_joint_states	sensor_msgs/JointState	56040	0.001	0.69
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	22703
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	56040	0.001	0.69
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	6349	0.113	0.235
/husky_robot/subt_odom_part	nav_msgs/Odometry	2186	0.0	0.01
/icp_odom	nav_msgs/Odometry	1357	3.532	13.941
/imu/data	sensor_msgs/Imu	576943	0.001	0.502
/imu_odom	nav_msgs/Odometry	576934	0.053	0.486
/joint_states	sensor_msgs/JointState	56038	0.001	0.462
/local_joy/cmd_vel	geometry_msgs/Twist	13479
/local_joy/joy	sensor_msgs/Joy	60404	0.001	0.405
/mux_cmd_vel/selected	std_msgs/String	72345
/mux_flipper_cmd/selected	std_msgs/String	49624
/mux_flippers_cmd/selected	std_msgs/String	49623
/mux_flippers_cmd_vel/selected	std_msgs/String	49624
/mux_laser_center/selected	std_msgs/String	19
/mux_posture_cmd/selected	std_msgs/String	49624
/mux_posture_cmd_stamped/selected	std_msgs/String	49624
/mux_scanning_speed_cmd/selected	std_msgs/String	19
/mux_tracks_vel_cmd/selected	std_msgs/String	72345
/nav/cmd_vel	geometry_msgs/Twist	59895
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	5608	0.0	0.012
/network/sender_stats	nimbro_topic_transport/SenderStats	4549	0.0	0.015
/posture	std_msgs/Int32	56033
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	56033	0.001	0.032
/rosout	rosgraph_msgs/Log	1364116	0.026
/rosout_agg	rosgraph_msgs/Log	1364063	0.033
/scan	sensor_msgs/LaserScan	298884	0.038	0.084
/scanning_speed_cmd	std_msgs/Float64	20470
/subt_odom	nav_msgs/Odometry	5978	0.073	0.513
/temperature	sensor_msgs/Temperature	576848	0.001	0.034
/tf	tf2_msgs/TFMessage	1789103
/tf_static	tf2_msgs/TFMessage	2911
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	56028	0.0	0.03
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	28334	0.234	1.052
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	28214	0.399	1.305
/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	36226	0.001	0.025
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	36226	0.007	0.035
camera/depth/camera_info	sensor_msgs/CameraInfo	36275	0.007	0.036
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	36275	0.058	0.14
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