Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	42492	0.002	2.711
/adapt_trav_vel_in	geometry_msgs/TwistStamped	42490	0.004	2.522
/artifact_detections	darpa_msgs/Detections	11031	3.559	8.807
/artifact_detections3D	darpa_msgs/DetectionPositions	11031	3.564	8.826
/battery_status	sensor_msgs/BatteryState	40914	0.001	2.026
/cmd_vel	geometry_msgs/Twist	45887
/ctu_robot/subt_odom_part	nav_msgs/Odometry	2379	0.001	0.016
/currents	nifti_robot_driver_msgs/CurrentsStamped	40911	0.001	1.782
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	25	0.002	0.007
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	4566	0.002	0.368
/diagnostics	diagnostic_msgs/DiagnosticArray	497385	0.002	0.926
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	4567	0.001	1.247
/dynamic_point_cloud	sensor_msgs/PointCloud2	1337	3.232	41.461
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	140
/exploration/path	nav_msgs/Path	17320
/filtered_joint_states	sensor_msgs/JointState	40900	0.002	0.94
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	21852
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	40898	0.001	0.774
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	4478	0.113	0.227
/husky_robot/subt_odom_part	nav_msgs/Odometry	476	0.001	0.029
/icp_odom	nav_msgs/Odometry	1323	3.755	13.458
/imu/data	sensor_msgs/Imu	435595	0.001	0.759
/imu_odom	nav_msgs/Odometry	435595	0.054	0.798
/joint_states	sensor_msgs/JointState	40897	0.001	0.695
/local_joy/cmd_vel	geometry_msgs/Twist	3700
/local_joy/joy	sensor_msgs/Joy	6205	0.002	0.593
/mux_cmd_vel/selected	std_msgs/String	83151
/mux_flipper_cmd/selected	std_msgs/String	45662
/mux_flippers_cmd/selected	std_msgs/String	45661
/mux_flippers_cmd_vel/selected	std_msgs/String	45662
/mux_laser_center/selected	std_msgs/String	29
/mux_posture_cmd/selected	std_msgs/String	45662
/mux_posture_cmd_stamped/selected	std_msgs/String	45661
/mux_scanning_speed_cmd/selected	std_msgs/String	29
/mux_tracks_vel_cmd/selected	std_msgs/String	83151
/nav/cmd_vel	geometry_msgs/Twist	45654
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	4447	0.001	0.022
/network/sender_stats	nimbro_topic_transport/SenderStats	4362	0.001	0.021
/posture	std_msgs/Int32	40891
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	40894	0.001	0.132
/rosout	rosgraph_msgs/Log	1337727	0.645
/rosout_agg	rosgraph_msgs/Log	1337537	0.647
/scan	sensor_msgs/LaserScan	226771	0.039	0.1
/scanning_speed_cmd	std_msgs/Float64	9
/subt_odom	nav_msgs/Odometry	4371	0.087	0.524
/teleop_joy/cmd_vel	geometry_msgs/Twist	722
/temperature	sensor_msgs/Temperature	435491	0.001	0.063
/tf	tf2_msgs/TFMessage	1315956
/tf_static	tf2_msgs/TFMessage	927
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	40889	0.001	0.053
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	21424	0.236	1.09
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	19561	0.489	1.623
/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	27303	0.001	0.046
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	27303	0.008	0.048
camera/depth/camera_info	sensor_msgs/CameraInfo	27385	0.009	0.066
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	27385	0.084	0.229
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: -0.00101
	realsense_shift_x: 0.025
	realsense_shift_y: 0.038
	realsense_shift_z: 0.077
	realsense_tilt: 0.504467
	realsense_upside_down: False
	realsense_yaw: -0.01133
	top_box_j_x: 0.468
	velodyne_x_offset: 0.41
	velodyne_yaw: -1.84