Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	46281	0.001	2.296
/adapt_trav_vel_in	geometry_msgs/TwistStamped	46280	0.003	2.216
/artifact_detections	darpa_msgs/Detections	12021	3.631	9.618
/artifact_detections3D	darpa_msgs/DetectionPositions	12021	3.636	9.618
/battery_status	sensor_msgs/BatteryState	44239	0.001	1.722
/cmd_vel	geometry_msgs/Twist	49429
/currents	nifti_robot_driver_msgs/CurrentsStamped	44236	0.001	1.409
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	80	0.001	0.006
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	4621	0.001	0.017
/dfki_robot/subt_odom_part	nav_msgs/Odometry	1529	0.001	0.009
/diagnostics	diagnostic_msgs/DiagnosticArray	490283	0.001	0.926
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	4626	0.001	0.252
/dynamic_point_cloud	sensor_msgs/PointCloud2	1395	3.022	9.158
/emergency_stop	std_msgs/Bool	2
/enable	std_msgs/Bool	1
/exploration/goals	sensor_msgs/PointCloud2	80
/exploration/path	nav_msgs/Path	18488
/filtered_joint_states	sensor_msgs/JointState	44230	0.001	0.853
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	21549
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	44229	0.001	0.771
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	4157	0.112	0.123
/husky_robot/subt_odom_part	nav_msgs/Odometry	1668	0.001	0.01
/icp_odom	nav_msgs/Odometry	1384	3.494	9.974
/imu/data	sensor_msgs/Imu	441318	0.001	0.654
/imu_odom	nav_msgs/Odometry	441308	0.053	0.609
/joint_states	sensor_msgs/JointState	44226	0.001	0.498
/local_joy/cmd_vel	geometry_msgs/Twist	872
/local_joy/joy	sensor_msgs/Joy	46178	0.001	0.396
/mux_cmd_vel/selected	std_msgs/String	58
/mux_flipper_cmd/selected	std_msgs/String	43095
/mux_flippers_cmd/selected	std_msgs/String	43095
/mux_flippers_cmd_vel/selected	std_msgs/String	43095
/mux_laser_center/selected	std_msgs/String	30
/mux_posture_cmd/selected	std_msgs/String	43095
/mux_posture_cmd_stamped/selected	std_msgs/String	43095
/mux_scanning_speed_cmd/selected	std_msgs/String	30
/mux_tracks_vel_cmd/selected	std_msgs/String	58
/nav/cmd_vel	geometry_msgs/Twist	46257
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	4573	0.0	0.01
/network/sender_stats	nimbro_topic_transport/SenderStats	4194	0.0	0.019
/posture	std_msgs/Int32	44223
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	44223	0.0	0.148
/rosout	rosgraph_msgs/Log	732699	0.096
/rosout_agg	rosgraph_msgs/Log	732562	0.029
/scan	sensor_msgs/LaserScan	230491	0.038	0.096
/scanning_speed_cmd	std_msgs/Float64	6330
/subt_odom	nav_msgs/Odometry	4465	0.082	0.51
/teleop_joy/cmd_vel	geometry_msgs/Twist	1010
/temperature	sensor_msgs/Temperature	441240	0.001	0.043
/tf	tf2_msgs/TFMessage	1353275
/tf_static	tf2_msgs/TFMessage	1440
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	44220	0.0	0.03
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	21555	0.237	1.055
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	21453	0.413	1.355
/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: -0.01
	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