ctu-robot/test/ugv_2019-08-21-16-16-09
Download original bagDownload processed bagStart | August 21 2019, 16:16 |
End | August 21 2019, 16:26 |
Duration | 10 mins, 46 secs |
Messages | 844666 |
Size | 5 GiB |
Distance | 44.3 m |
Start of moving | 00:00:04 |
End of moving | 00:10:31 |
Average speed | 0.071 m/s |
Point cloud map | click to view |
Controller | robot gamepad, autonomous |
Movement tag | observation, overcame obstacle |
Moving joints | laser |
Topics
Topic name | Type | Messages | Average time delay [s] | Max. time delay [s] |
---|---|---|---|---|
/adapt_trav_vel | geometry_msgs/TwistStamped | 6481 | 0.004 | 1.998 |
/adapt_trav_vel_in | geometry_msgs/TwistStamped | 6479 | 0.005 | 1.801 |
/artifact_detections | darpa_msgs/Detections | 1685 | 3.552 | 6.619 |
/artifact_detections3D | darpa_msgs/DetectionPositions | 1685 | 3.555 | 6.624 |
/battery_status | sensor_msgs/BatteryState | 6315 | 0.003 | 1.524 |
/cmd_vel | geometry_msgs/Twist | 6463 | ||
/currents | nifti_robot_driver_msgs/CurrentsStamped | 6311 | 0.002 | 1.15 |
/detection_localization/confirmed_hypotheses | darpa_msgs/LocalizationHypotheses | 4 | 0.0 | 0.001 |
/detection_localization/hypotheses | darpa_msgs/LocalizationHypotheses | 647 | 0.002 | 0.874 |
/dfki_robot/subt_odom_part | nav_msgs/Odometry | 311 | 0.001 | 0.007 |
/diagnostics | diagnostic_msgs/DiagnosticArray | 70044 | 0.002 | 0.931 |
/diagnostics_agg | diagnostic_msgs/DiagnosticArray | 647 | 0.001 | 0.033 |
/dynamic_point_cloud | sensor_msgs/PointCloud2 | 210 | 3.016 | 3.126 |
/emergency_stop | std_msgs/Bool | 1 | ||
/exploration/goals | sensor_msgs/PointCloud2 | 7 | ||
/exploration/path | nav_msgs/Path | 2589 | ||
/filtered_joint_states | sensor_msgs/JointState | 6307 | 0.002 | 0.79 |
/flippers_cmd | nifti_robot_driver_msgs/FlippersState | 3233 | ||
/flippers_state | nifti_robot_driver_msgs/FlippersStateStamped | 6306 | 0.001 | 0.676 |
/gpio_status | tradr_ft232h_gpio_driver_msgs/GpioStatus | 581 | 0.113 | 0.391 |
/icp_odom | nav_msgs/Odometry | 209 | 3.443 | 4.052 |
/imu/data | sensor_msgs/Imu | 61693 | 0.001 | 0.647 |
/imu_odom | nav_msgs/Odometry | 61692 | 0.053 | 0.686 |
/joint_states | sensor_msgs/JointState | 6304 | 0.001 | 0.487 |
/local_joy/cmd_vel | geometry_msgs/Twist | 1830 | ||
/local_joy/joy | sensor_msgs/Joy | 6454 | 0.001 | 0.492 |
/mux_cmd_vel/selected | std_msgs/String | 5 | ||
/mux_flipper_cmd/selected | std_msgs/String | 6468 | ||
/mux_flippers_cmd/selected | std_msgs/String | 6469 | ||
/mux_flippers_cmd_vel/selected | std_msgs/String | 6469 | ||
/mux_laser_center/selected | std_msgs/String | 3 | ||
/mux_posture_cmd/selected | std_msgs/String | 6466 | ||
/mux_posture_cmd_stamped/selected | std_msgs/String | 6466 | ||
/mux_scanning_speed_cmd/selected | std_msgs/String | 3 | ||
/mux_tracks_vel_cmd/selected | std_msgs/String | 5 | ||
/nav/cmd_vel | geometry_msgs/Twist | 6464 | ||
/network/receiver_stats | nimbro_topic_transport/ReceiverStats | 556 | 0.0 | 0.008 |
/network/sender_stats | nimbro_topic_transport/SenderStats | 522 | 0.001 | 0.007 |
/posture | std_msgs/Int32 | 6299 | ||
/robot_status | nifti_robot_driver_msgs/RobotStatusStamped | 6299 | 0.001 | 0.013 |
/rosout | rosgraph_msgs/Log | 107966 | 0.917 | |
/rosout_agg | rosgraph_msgs/Log | 107899 | 0.024 | 183.242 |
/scan | sensor_msgs/LaserScan | 32265 | 0.038 | 0.114 |
/scanning_speed_cmd | std_msgs/Float64 | 1 | ||
/subt_odom | nav_msgs/Odometry | 641 | 0.08 | 0.506 |
/temperature | sensor_msgs/Temperature | 61592 | 0.001 | 0.029 |
/tf | tf2_msgs/TFMessage | 189244 | ||
/tf_static | tf2_msgs/TFMessage | 277 | ||
/tracks_vel | nifti_robot_driver_msgs/TracksStamped | 6295 | 0.0 | 0.02 |
/viz/omnicam/camera_info | sensor_msgs/CameraInfo | 2990 | 0.24 | 1.024 |
/viz/omnicam/image/compressed | sensor_msgs/CompressedImage | 2973 | 0.432 | 1.287 |
/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 | 3896 | 0.001 | 0.02 |
camera/color/image_raw/compressed | sensor_msgs/CompressedImage | 3896 | 0.009 | 0.048 |
camera/depth/camera_info | sensor_msgs/CameraInfo | 3873 | 0.009 | 0.049 |
camera/depth/image_rect_raw/compressed | sensor_msgs/CompressedImage | 3873 | 0.07 | 0.143 |
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