Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	1683	0.018	2.336
/adapt_trav_vel_in	geometry_msgs/TwistStamped	1682	0.018	2.255
/battery_status	sensor_msgs/BatteryState	1712	0.014	1.987
/cmd_vel	geometry_msgs/Twist	1680
/currents	nifti_robot_driver_msgs/CurrentsStamped	1710	0.012	1.765
/diagnostics	diagnostic_msgs/DiagnosticArray	18204	0.004	0.961
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	168	0.01	1.271
/dynamic_point_cloud	sensor_msgs/PointCloud2	55	3.004	3.482
/emergency_stop	std_msgs/Bool	1
/enable	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	3
/exploration/path	nav_msgs/Path	635
/filtered_joint_states	sensor_msgs/JointState	1702	0.005	1.13
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	833
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	1702	0.005	1.13
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	163	0.117	0.766
/icp_odom	nav_msgs/Odometry	54	3.391	3.72
/imu/data	sensor_msgs/Imu	15919	0.003	0.927
/imu_odom	nav_msgs/Odometry	15918	0.055	0.964
/joint_states	sensor_msgs/JointState	1699	0.003	0.87
/local_joy/cmd_vel	geometry_msgs/Twist	778
/local_joy/joy	sensor_msgs/Joy	1693	0.003	0.796
/mux_cmd_vel/selected	std_msgs/String	26
/mux_flipper_cmd/selected	std_msgs/String	1667
/mux_flippers_cmd/selected	std_msgs/String	1667
/mux_flippers_cmd_vel/selected	std_msgs/String	1667
/mux_laser_center/selected	std_msgs/String	13
/mux_posture_cmd/selected	std_msgs/String	1667
/mux_posture_cmd_stamped/selected	std_msgs/String	1667
/mux_scanning_speed_cmd/selected	std_msgs/String	13
/mux_tracks_vel_cmd/selected	std_msgs/String	26
/nav/cmd_vel	geometry_msgs/Twist	1663
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	160	0.0	0.004
/network/sender_stats	nimbro_topic_transport/SenderStats	157	0.0	0.002
/posture	std_msgs/Int32	1694
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	1694	0.001	0.418
/rosout	rosgraph_msgs/Log	27837	0.203	399.162
/rosout_agg	rosgraph_msgs/Log	27706	0.037	399.191
/scan	sensor_msgs/LaserScan	8276	0.038	0.075
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	163	0.068	0.402
/temperature	sensor_msgs/Temperature	15814	0.001	0.037
/tf	tf2_msgs/TFMessage	48827
/tf_static	tf2_msgs/TFMessage	39
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	1688	0.0	0.031
/uav1_robot/subt_odom_part	nav_msgs/Odometry	147	0.0	0.01
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	784	0.229	1.01
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	781	0.378	1.21
/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	995	0.001	0.031
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	995	0.006	0.032
camera/depth/camera_info	sensor_msgs/CameraInfo	990	0.007	0.032
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	989	0.052	0.13
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