Topics

Topic name	Type	Messages	Average time delay [s]	Max. time delay [s]
/adapt_trav_vel	geometry_msgs/TwistStamped	3526	0.008	2.037
/adapt_trav_vel_in	geometry_msgs/TwistStamped	3523	0.008	1.743
/artifact_detections	darpa_msgs/Detections	759	3.904	8.963
/artifact_detections3D	darpa_msgs/DetectionPositions	759	3.91	8.976
/battery_status	sensor_msgs/BatteryState	3216	0.005	1.613
/cmd_vel	geometry_msgs/Twist	3520
/currents	nifti_robot_driver_msgs/CurrentsStamped	3214	0.004	1.494
/detection_localization/confirmed_hypotheses	darpa_msgs/LocalizationHypotheses	13	0.002	0.004
/detection_localization/hypotheses	darpa_msgs/LocalizationHypotheses	347	0.001	0.009
/dfki_robot/subt_odom_part	nav_msgs/Odometry	149	0.001	0.007
/diagnostics	diagnostic_msgs/DiagnosticArray	38069	0.003	0.95
/diagnostics_agg	diagnostic_msgs/DiagnosticArray	352	0.003	0.775
/dynamic_point_cloud	sensor_msgs/PointCloud2	114	3.024	3.58
/emergency_stop	std_msgs/Bool	1
/exploration/path	nav_msgs/Path	1406
/filtered_joint_states	sensor_msgs/JointState	3208	0.003	0.879
/flippers_cmd	nifti_robot_driver_msgs/FlippersState	1753
/flippers_state	nifti_robot_driver_msgs/FlippersStateStamped	3206	0.002	0.688
/gpio_status	tradr_ft232h_gpio_driver_msgs/GpioStatus	315	0.113	0.12
/husky_robot/subt_odom_part	nav_msgs/Odometry	175	0.001	0.012
/icp_odom	nav_msgs/Odometry	113	3.497	3.746
/imu/data	sensor_msgs/Imu	33503	0.002	0.681
/imu_odom	nav_msgs/Odometry	33505	0.054	0.729
/joint_states	sensor_msgs/JointState	3205	0.002	0.604
/local_joy/cmd_vel	geometry_msgs/Twist	2072
/local_joy/joy	sensor_msgs/Joy	3506	0.002	0.524
/mux_cmd_vel/selected	std_msgs/String	2878
/mux_flipper_cmd/selected	std_msgs/String	3509
/mux_flippers_cmd/selected	std_msgs/String	3509
/mux_flippers_cmd_vel/selected	std_msgs/String	3509
/mux_laser_center/selected	std_msgs/String	1
/mux_posture_cmd/selected	std_msgs/String	3509
/mux_posture_cmd_stamped/selected	std_msgs/String	3509
/mux_scanning_speed_cmd/selected	std_msgs/String	1
/mux_tracks_vel_cmd/selected	std_msgs/String	2878
/nav/cmd_vel	geometry_msgs/Twist	3505
/network/receiver_stats	nimbro_topic_transport/ReceiverStats	175	0.001	0.009
/network/sender_stats	nimbro_topic_transport/SenderStats	230	0.001	0.009
/posture	std_msgs/Int32	3201
/robot_status	nifti_robot_driver_msgs/RobotStatusStamped	3201	0.001	0.145
/rosout	rosgraph_msgs/Log	79175	0.635
/rosout_agg	rosgraph_msgs/Log	79022	0.024	4.644
/scan	sensor_msgs/LaserScan	17481	0.039	0.084
/scanning_speed_cmd	std_msgs/Float64	1
/subt_odom	nav_msgs/Odometry	343	0.088	0.514
/temperature	sensor_msgs/Temperature	33413	0.001	0.027
/tf	tf2_msgs/TFMessage	101841
/tf_static	tf2_msgs/TFMessage	55
/tracks_vel	nifti_robot_driver_msgs/TracksStamped	3196	0.001	0.016
/viz/omnicam/camera_info	sensor_msgs/CameraInfo	1668	0.231	1.026
/viz/omnicam/image/compressed	sensor_msgs/CompressedImage	1513	0.516	1.396
/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	2108	0.002	0.015
camera/color/image_raw/compressed	sensor_msgs/CompressedImage	2108	0.011	0.038
camera/depth/camera_info	sensor_msgs/CameraInfo	2095	0.011	0.043
camera/depth/image_rect_raw/compressed	sensor_msgs/CompressedImage	2095	0.083	0.185
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