Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	38955	0.001	1.582
/adapt_trav_vel_in	geometry_msgs/TwistStamped	38954	0.002	1.486
/artifact_detections	darpa_msgs/Detections	8049	3.252	7.825
/artifact_detections3D	darpa_msgs/DetectionPositions	8049	3.26	7.843
/battery_status	sensor_msgs/BatteryState	50228	0.001	1.524
/cmd_vel	geometry_msgs/Twist	38985
/currents	nifti_robot_driver_msgs/CurrentsStamped	50227	0.001	1.408
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	263	0.002	0.016
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	3896	0.003	0.97
/diagnostics	diagnostic_msgs/DiagnosticArray	410112	0.001	0.947
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	3895	0.0	0.706
/dynamic_point_cloud	sensor_msgs/PointCloud2	1264	3.013	3.144
/emergency_stop	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	561	1.715	29.333
/exploration/path	nav_msgs/Path	15483
/filtered_joint_states	sensor_msgs/JointState	50225	0.001	1.242
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	50225	0.001	1.242
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	3500	0.113	1.223
/icp_odom	nav_msgs/Odometry	1264	3.396	24.594
/imu/data	sensor_msgs/Imu	371602	0.001	1.042
/imu_odom	nav_msgs/Odometry	371586	0.053	1.205
/joint_states	sensor_msgs/JointState	50223	0.001	1.091
/local_joy/cmd_vel	geometry_msgs/Twist	1182
/local_joy/joy	sensor_msgs/Joy	18263	0.002	1.124
/mux_cmd_vel/selected	std_msgs/String	41
/mux_flipper_cmd/selected	std_msgs/String	1
/mux_flippers_cmd/selected	std_msgs/String	1
/mux_flippers_cmd_vel/selected	std_msgs/String	1
/mux_laser_center/selected	std_msgs/String	21
/mux_posture_cmd/selected	std_msgs/String	1
/mux_posture_cmd_stamped/selected	std_msgs/String	1
/mux_scanning_speed_cmd/selected	std_msgs/String	20
/mux_tracks_vel_cmd/selected	std_msgs/String	40
/nav/cmd_vel	geometry_msgs/Twist	38951
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	1948	0.0	0.256
/network/sender_stats	nimbro_topic_transport/SenderStats	3871	0.0	0.008
/posture	std_msgs/Int32	50218
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	50217	0.0	0.608
/rosout	rosgraph_msgs/Log	162157	1.759
/rosout_agg	rosgraph_msgs/Log	162104	0.004	3.246
/scan	sensor_msgs/LaserScan	193515	0.038	0.313
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	3888	0.065	0.436
/teleop_joy/cmd_vel	geometry_msgs/Twist	46
/temperature	sensor_msgs/Temperature	371530	0.001	0.289
/tf	tf2_msgs/TFMessage	1168971
/tf_static	tf2_msgs/TFMessage	61
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	50213	0.0	0.212
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	18340	0.231	1.05
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	18267	0.387	1.666
/viz/omnicam/image/compressed/parameter_descriptions	dynamic_reconfigure/ConfigDescription	1
/viz/omnicam/image/compressed/parameter_updates	dynamic_reconfigure/Config	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