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

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