Commit ·
4059da3
1
Parent(s): 3b9fe6a
scan rosbag topics and localize readme
Browse files- .gitignore +1 -0
- Makefile +7 -5
- README.md +125 -28
- metadata/sessions.parquet +2 -2
- metadata/topics.parquet +2 -2
- raw/sessions/2026-05-13_024746_odom_run001/metadata.yaml +103 -5
- raw/sessions/2026-05-13_024746_odom_run001/topic_summary.yaml +105 -0
- raw/sessions/2026-05-13_025426_odom_run002/metadata.yaml +117 -5
- raw/sessions/2026-05-13_025426_odom_run002/topic_summary.yaml +119 -0
- raw/sessions/2026-05-13_025750_odom_run003/metadata.yaml +110 -5
- raw/sessions/2026-05-13_025750_odom_run003/topic_summary.yaml +112 -0
- raw/sessions/2026-05-13_030422_odom_run004/metadata.yaml +117 -5
- raw/sessions/2026-05-13_030422_odom_run004/topic_summary.yaml +119 -0
- raw/sessions/2026-05-13_031034_odom_run005/metadata.yaml +117 -5
- raw/sessions/2026-05-13_031034_odom_run005/topic_summary.yaml +119 -0
- raw/sessions/2026-05-13_033144_odom_run006/metadata.yaml +110 -5
- raw/sessions/2026-05-13_033144_odom_run006/topic_summary.yaml +112 -0
- raw/sessions/2026-05-13_033707_odom_run007/metadata.yaml +117 -5
- raw/sessions/2026-05-13_033707_odom_run007/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_001841_odom_run008/metadata.yaml +103 -5
- raw/sessions/2026-05-14_001841_odom_run008/topic_summary.yaml +105 -0
- raw/sessions/2026-05-14_002421_odom_run009/metadata.yaml +117 -5
- raw/sessions/2026-05-14_002421_odom_run009/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_010514_odom_run010/metadata.yaml +117 -5
- raw/sessions/2026-05-14_010514_odom_run010/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_010849_odom_run011/metadata.yaml +117 -5
- raw/sessions/2026-05-14_010849_odom_run011/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_013615_odom_run012/metadata.yaml +103 -5
- raw/sessions/2026-05-14_013615_odom_run012/topic_summary.yaml +105 -0
- raw/sessions/2026-05-14_014222_odom_run013/metadata.yaml +117 -5
- raw/sessions/2026-05-14_014222_odom_run013/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_014752_odom_run014/metadata.yaml +117 -5
- raw/sessions/2026-05-14_014752_odom_run014/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_020913_odom_run015/metadata.yaml +103 -5
- raw/sessions/2026-05-14_020913_odom_run015/topic_summary.yaml +105 -0
- raw/sessions/2026-05-14_024038_odom_run016/metadata.yaml +117 -5
- raw/sessions/2026-05-14_024038_odom_run016/topic_summary.yaml +119 -0
- raw/sessions/2026-05-14_024553_odom_run017/metadata.yaml +117 -5
- raw/sessions/2026-05-14_024553_odom_run017/topic_summary.yaml +119 -0
- scripts/scan_bag_topics.py +1 -1
.gitignore
CHANGED
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@@ -9,6 +9,7 @@ outputs_tmp/
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__pycache__/
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*.pyc
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.ipynb_checkpoints/
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.DS_Store
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*.log
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__pycache__/
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*.pyc
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.ipynb_checkpoints/
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.pytest_cache/
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.DS_Store
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*.log
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Makefile
CHANGED
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@@ -1,23 +1,25 @@
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.PHONY: init-lfs build-index validate scan-all
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init-lfs:
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bash scripts/init_git_lfs.sh
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build-index:
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-
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-
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validate:
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-
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scan-all:
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-
@
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echo "Failed to import rosbag. Please source your ROS environment first, for example:"; \
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echo "source /opt/ros/noetic/setup.bash"; \
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exit 1; \
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}
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@for session_dir in raw/sessions/*; do \
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if [ -d "$$session_dir" ]; then \
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-
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fi; \
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done
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PYTHON ?= python
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.PHONY: init-lfs build-index validate scan-all
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init-lfs:
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bash scripts/init_git_lfs.sh
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build-index:
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$(PYTHON) scripts/build_sessions_parquet.py --repo-root .
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$(PYTHON) scripts/build_topics_parquet.py --repo-root .
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validate:
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$(PYTHON) scripts/validate_dataset.py --repo-root .
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scan-all:
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@$(PYTHON) -c "import rosbag" >/dev/null 2>&1 || { \
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echo "Failed to import rosbag. Please source your ROS environment first, for example:"; \
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echo "source /opt/ros/noetic/setup.bash"; \
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exit 1; \
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}
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@for session_dir in raw/sessions/*; do \
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if [ -d "$$session_dir" ]; then \
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$(PYTHON) scripts/scan_bag_topics.py --session-dir "$$session_dir" --write-metadata; \
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fi; \
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done
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README.md
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- metadata/topics.parquet
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---
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-
#
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## 1. Dataset Overview
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-
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## 2. Repository Structure
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tests/
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```
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## 3. Raw ROSBag Policy
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-
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## 4. ROS Topics
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## 5. Session Naming
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-
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```text
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odom_dataset_YYYYMMDD_HHMMSS.bag
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```
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-
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```text
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YYYY-MM-DD_HHMMSS_odom_runXXX
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```
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-
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```text
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odom_dataset_20260513_024746.bag -> 2026-05-13_024746_odom_run001
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## 6. Time Convention
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-
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## 7. Calibration
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## 8. Metadata Schema
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## 9. Parquet Tables
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`metadata/sessions.parquet`
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-
`metadata/topics.parquet`
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Parquet
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## 10. How to Import Existing Bags
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```bash
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python scripts/import_raw_bags.py
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```
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-
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## 11. How to Add a New Bag
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--repo-root .
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```
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## 12. How to Scan Topics
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```bash
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python scripts/scan_bag_topics.py \
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--session-dir raw/sessions/2026-05-13_024746_odom_run001 \
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--write-metadata
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```
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-
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```bash
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make scan-all
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```
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## 13. How to Validate the Dataset
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```bash
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python scripts/validate_dataset.py --repo-root .
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```
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## 14. How to Use with Git LFS
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```bash
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bash scripts/init_git_lfs.sh
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git add .gitattributes
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git commit -m "configure git lfs"
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```
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-
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## 15. How to Push to Hugging Face
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```bash
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git
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git commit -m "initialize odometry rosbag storage dataset"
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git lfs ls-files
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git remote add origin <your-hugging-face-dataset-git-url>
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git push origin main
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```
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This repository never pushes automatically.
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-
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## 16. Future Work
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## 17. Known Limitations
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## 18. Citation
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- metadata/topics.parquet
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---
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+
# 里程计 ROSBag 数据集
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## 1. Dataset Overview
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这是一个第一版 ROSBag 里程计数据集仓库。它只做三件事：保存原始 ROS1 bag、维护基础 metadata、生成 Hugging Face 友好的 Parquet 索引。
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当前仓库包含 17 个 session，总时长约 2077.404 秒，也就是 34 分 37.4 秒。`metadata/topics.parquet` 当前包含 262 条 topic 统计记录。
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+
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第一版不做 `train`、`val`、`test` 切分。不导出 RGB、depth、infra、lidar 点云文件。不组织训练集目录。原始 bag 才是数据源，Parquet 只是索引。
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## 2. Repository Structure
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tests/
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```
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`dataset/bags/` 是本地原始来源目录，已被 `.gitignore` 忽略，不作为仓库数据入口提交。仓库正式数据入口是 `raw/sessions/`。
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+
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## 3. Raw ROSBag Policy
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原始 ROSBag 是不可变数据。不要覆盖旧 bag，不要手动修改 bag 内容，不要把新采集直接塞进旧 session。
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新增采集必须创建新的 session：
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```text
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raw/sessions/<new_session_id>/
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```
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这条规则很重要。数据集最怕的不是目录多，而是旧数据被悄悄改掉。
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## 4. ROS Topics
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## 5. Session Naming
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输入 bag 文件名格式：
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```text
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odom_dataset_YYYYMMDD_HHMMSS.bag
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```
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自动生成的 session ID 格式：
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```text
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YYYY-MM-DD_HHMMSS_odom_runXXX
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```
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+
示例：
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```text
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odom_dataset_20260513_024746.bag -> 2026-05-13_024746_odom_run001
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## 6. Time Convention
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metadata 和 Parquet 中的时间戳统一使用纳秒，单位是 `ns`。
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时长统计使用每个 bag 的：
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```text
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end_time_ns - start_time_ns
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```
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+
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多个 session 的总时长是各 session 时长相加，中间没有数据的空档不计入。
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## 7. Calibration
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+
标定模板位于：
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+
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```text
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+
calibration/robot_v1_template/
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+
```
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+
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+
这些文件是模板，不是严格实测标定。做定量评估或训练前，应该替换成真实机器人标定。
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## 8. Metadata Schema
|
| 141 |
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+
schema 文档在：
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+
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```text
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+
metadata/schema.md
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| 146 |
+
```
|
| 147 |
+
|
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+
每个 session 的 metadata 位于：
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| 149 |
+
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+
```text
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| 151 |
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raw/sessions/<session_id>/metadata.yaml
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| 152 |
+
```
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+
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每个 session 的 topic 统计位于：
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+
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```text
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| 157 |
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raw/sessions/<session_id>/topic_summary.yaml
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+
```
|
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## 9. Parquet Tables
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`metadata/sessions.parquet` 是 session 级索引。
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`metadata/topics.parquet` 是 topic 级索引。
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Parquet 是快速检索入口，不是原始数据替代品。真正的数据仍然是 `raw/sessions/<session_id>/bag.bag`。
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## 10. How to Import Existing Bags
|
| 169 |
|
| 170 |
+
先预览导入计划：
|
| 171 |
+
|
| 172 |
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```bash
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python scripts/import_raw_bags.py \
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--input-dir dataset/bags \
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--mode hardlink \
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--repo-root . \
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--dry-run
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```
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+
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+
正式导入：
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+
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| 182 |
```bash
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| 183 |
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python scripts/import_raw_bags.py \
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--input-dir dataset/bags \
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--mode hardlink \
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| 186 |
+
--repo-root .
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```
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+
当前仓库使用 hardlink 导入，是为了保留 `dataset/bags` 的路径，同时避免再额外复制一份 76G 的 bag 数据。不要手动编辑 hardlink 指向的 bag 内容。
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| 191 |
## 11. How to Add a New Bag
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| 192 |
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| 200 |
--repo-root .
|
| 201 |
```
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| 202 |
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| 203 |
+
如果目标 session 已存在，脚本会报错并拒绝覆盖。这是故意的。
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+
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| 205 |
## 12. How to Scan Topics
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| 206 |
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单个 session：
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| 208 |
+
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```bash
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| 210 |
python scripts/scan_bag_topics.py \
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--session-dir raw/sessions/2026-05-13_024746_odom_run001 \
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| 212 |
--write-metadata
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```
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| 214 |
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+
全部 session：
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```bash
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| 218 |
make scan-all
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| 219 |
```
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+
如果本机��� ROS2，但 bag 是 ROS1，使用本地 Docker 环境扫描：
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| 222 |
+
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```bash
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| 224 |
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.local_docker/ros1_noetic/run.sh 'make PYTHON=python3 scan-all'
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| 225 |
+
```
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| 226 |
+
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| 227 |
+
`.local_docker/` 是本地工具目录，已在 `.git/info/exclude` 中排除，不会提交到仓库。
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| 228 |
+
|
| 229 |
## 13. How to Validate the Dataset
|
| 230 |
|
| 231 |
```bash
|
| 232 |
python scripts/validate_dataset.py --repo-root .
|
| 233 |
```
|
| 234 |
|
| 235 |
+
或在 ROS1 Docker 环境中：
|
| 236 |
+
|
| 237 |
+
```bash
|
| 238 |
+
.local_docker/ros1_noetic/run.sh 'make PYTHON=python3 validate'
|
| 239 |
+
```
|
| 240 |
+
|
| 241 |
+
校验会检查 session 文件、sha256、metadata、calibration 引用、Parquet 文件和 Git LFS 配置。
|
| 242 |
+
|
| 243 |
## 14. How to Use with Git LFS
|
| 244 |
|
| 245 |
+
初始化 Git LFS：
|
| 246 |
+
|
| 247 |
```bash
|
| 248 |
bash scripts/init_git_lfs.sh
|
|
|
|
|
|
|
| 249 |
```
|
| 250 |
|
| 251 |
+
确认 LFS 文件：
|
| 252 |
+
|
| 253 |
+
```bash
|
| 254 |
+
git lfs ls-files
|
| 255 |
+
```
|
| 256 |
+
|
| 257 |
+
`.bag`、`.parquet` 等大文件由 Git LFS 管理。`README.md`、`.yaml`、`.py`、`.sh`、`.json` 这些文本文件不走 LFS。
|
| 258 |
|
| 259 |
## 15. How to Push to Hugging Face
|
| 260 |
|
| 261 |
+
本仓库不会自动 push。
|
| 262 |
+
|
| 263 |
+
手动推送前先检查：
|
| 264 |
|
| 265 |
```bash
|
| 266 |
+
git status
|
|
|
|
| 267 |
git lfs ls-files
|
| 268 |
+
make validate
|
| 269 |
+
```
|
| 270 |
+
|
| 271 |
+
然后再添加远端并推送：
|
| 272 |
+
|
| 273 |
+
```bash
|
| 274 |
git remote add origin <your-hugging-face-dataset-git-url>
|
| 275 |
git push origin main
|
| 276 |
```
|
| 277 |
|
|
|
|
|
|
|
| 278 |
## 16. Future Work
|
| 279 |
|
| 280 |
+
第二版可以再做：
|
| 281 |
+
|
| 282 |
+
- `train/val/test` 切分
|
| 283 |
+
- `frames.parquet`
|
| 284 |
+
- `odometry.parquet`
|
| 285 |
+
- RGB、depth、infra 图像导出
|
| 286 |
+
- lidar 点云导出
|
| 287 |
+
- 训练集目录组织
|
| 288 |
|
| 289 |
+
如果以后导出图片和点云，不要把几十万个文件放进一个目录。按 session、时间段或 frame range 分片。
|
| 290 |
|
| 291 |
## 17. Known Limitations
|
| 292 |
|
| 293 |
+
第一版只保证 raw bag 存储和基础索引。它不解码图像，不导出点云，不生成训练样本。
|
| 294 |
+
|
| 295 |
+
topic 扫描依赖 ROS1 `rosbag`。如果本机只有 ROS2，请使用本地 ROS1 Docker 环境。
|
| 296 |
+
|
| 297 |
+
当前 `calibration/robot_v1_template/` 是模板标定，不应当直接当作真实标定用于严肃评估。
|
| 298 |
|
| 299 |
## 18. Citation
|
| 300 |
|
metadata/sessions.parquet
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e53b925ba68d7a5f591953588e3e65a979257eea101a80609594e376f3457c4f
|
| 3 |
+
size 9486
|
metadata/topics.parquet
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:51bbb450169bd40806b7681b3f55e29e59a7bb5f6531062238e1ba266d545f82
|
| 3 |
+
size 12277
|
raw/sessions/2026-05-13_024746_odom_run001/metadata.yaml
CHANGED
|
@@ -10,11 +10,109 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 38.289381437
|
| 14 |
+
start_time_ns: 1778611667988758057
|
| 15 |
+
end_time_ns: 1778611706278139494
|
| 16 |
+
num_messages: 42601
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/depth/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 574
|
| 21 |
+
timestamp_min_ns: 1778611668016740685
|
| 22 |
+
timestamp_max_ns: 1778611706216275150
|
| 23 |
+
hz_mean: 15.000182803929363
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/depth/image_rect_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 574
|
| 28 |
+
timestamp_min_ns: 1778611668019031477
|
| 29 |
+
timestamp_max_ns: 1778611706217159145
|
| 30 |
+
hz_mean: 15.000735244937767
|
| 31 |
+
category: camera
|
| 32 |
+
- topic: /camera/infra1/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
+
count: 574
|
| 35 |
+
timestamp_min_ns: 1778611668021408221
|
| 36 |
+
timestamp_max_ns: 1778611706216310059
|
| 37 |
+
hz_mean: 15.002002163281485
|
| 38 |
+
category: camera
|
| 39 |
+
- topic: /camera/infra1/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 574
|
| 42 |
+
timestamp_min_ns: 1778611668022294113
|
| 43 |
+
timestamp_max_ns: 1778611706217657954
|
| 44 |
+
hz_mean: 15.001820702253013
|
| 45 |
+
category: camera
|
| 46 |
+
- topic: /camera/infra2/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 574
|
| 49 |
+
timestamp_min_ns: 1778611668022294241
|
| 50 |
+
timestamp_max_ns: 1778611706217879761
|
| 51 |
+
hz_mean: 15.001733634897816
|
| 52 |
+
category: camera
|
| 53 |
+
- topic: /camera/infra2/image_rect_raw
|
| 54 |
+
msg_type: sensor_msgs/Image
|
| 55 |
+
count: 574
|
| 56 |
+
timestamp_min_ns: 1778611668022598498
|
| 57 |
+
timestamp_max_ns: 1778611706217889008
|
| 58 |
+
hz_mean: 15.001849504194281
|
| 59 |
+
category: camera
|
| 60 |
+
- topic: /ekf_quat/ekf_odom
|
| 61 |
+
msg_type: nav_msgs/Odometry
|
| 62 |
+
count: 7623
|
| 63 |
+
timestamp_min_ns: 1778611667988758057
|
| 64 |
+
timestamp_max_ns: 1778611706267863717
|
| 65 |
+
hz_mean: 199.11645971302457
|
| 66 |
+
category: odometry
|
| 67 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 68 |
+
msg_type: nav_msgs/Odometry
|
| 69 |
+
count: 7621
|
| 70 |
+
timestamp_min_ns: 1778611667988810153
|
| 71 |
+
timestamp_max_ns: 1778611706267953758
|
| 72 |
+
hz_mean: 199.06401456182732
|
| 73 |
+
category: odometry
|
| 74 |
+
- topic: /livox/imu
|
| 75 |
+
msg_type: sensor_msgs/Imu
|
| 76 |
+
count: 7659
|
| 77 |
+
timestamp_min_ns: 1778611667991284498
|
| 78 |
+
timestamp_max_ns: 1778611706278139494
|
| 79 |
+
hz_mean: 200.0164286358873
|
| 80 |
+
category: imu
|
| 81 |
+
- topic: /livox/lidar
|
| 82 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 83 |
+
count: 382
|
| 84 |
+
timestamp_min_ns: 1778611668078272361
|
| 85 |
+
timestamp_max_ns: 1778611706180757686
|
| 86 |
+
hz_mean: 9.999347726275909
|
| 87 |
+
category: lidar
|
| 88 |
+
- topic: /mavros/imu/data
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 7646
|
| 91 |
+
timestamp_min_ns: 1778611667994842751
|
| 92 |
+
timestamp_max_ns: 1778611706267651861
|
| 93 |
+
hz_mean: 199.75016670523144
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /mavros/imu/data_raw
|
| 96 |
+
msg_type: sensor_msgs/Imu
|
| 97 |
+
count: 7654
|
| 98 |
+
timestamp_min_ns: 1778611667994846847
|
| 99 |
+
timestamp_max_ns: 1778611706266297790
|
| 100 |
+
hz_mean: 199.966288484805
|
| 101 |
+
category: imu
|
| 102 |
+
- topic: /nlink_tofsensem_cascade
|
| 103 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 104 |
+
count: 570
|
| 105 |
+
timestamp_min_ns: 1778611668026661360
|
| 106 |
+
timestamp_max_ns: 1778611706225864836
|
| 107 |
+
hz_mean: 14.895598552401605
|
| 108 |
+
category: tof
|
| 109 |
+
- topic: /tf_static
|
| 110 |
+
msg_type: tf2_msgs/TFMessage
|
| 111 |
+
count: 2
|
| 112 |
+
timestamp_min_ns: 1778611667994452989
|
| 113 |
+
timestamp_max_ns: 1778611667994702462
|
| 114 |
+
hz_mean: 4008.4498122041264
|
| 115 |
+
category: tf
|
| 116 |
calibration_id: robot_v1_template
|
| 117 |
quality:
|
| 118 |
status: unchecked
|
raw/sessions/2026-05-13_024746_odom_run001/topic_summary.yaml
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_024746_odom_run001
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 38.289381437
|
| 4 |
+
start_time_ns: 1778611667988758057
|
| 5 |
+
end_time_ns: 1778611706278139494
|
| 6 |
+
num_messages: 42601
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/depth/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 574
|
| 11 |
+
timestamp_min_ns: 1778611668016740685
|
| 12 |
+
timestamp_max_ns: 1778611706216275150
|
| 13 |
+
hz_mean: 15.000182803929363
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/depth/image_rect_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 574
|
| 18 |
+
timestamp_min_ns: 1778611668019031477
|
| 19 |
+
timestamp_max_ns: 1778611706217159145
|
| 20 |
+
hz_mean: 15.000735244937767
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/infra1/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 574
|
| 25 |
+
timestamp_min_ns: 1778611668021408221
|
| 26 |
+
timestamp_max_ns: 1778611706216310059
|
| 27 |
+
hz_mean: 15.002002163281485
|
| 28 |
+
category: camera
|
| 29 |
+
- topic: /camera/infra1/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 574
|
| 32 |
+
timestamp_min_ns: 1778611668022294113
|
| 33 |
+
timestamp_max_ns: 1778611706217657954
|
| 34 |
+
hz_mean: 15.001820702253013
|
| 35 |
+
category: camera
|
| 36 |
+
- topic: /camera/infra2/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 574
|
| 39 |
+
timestamp_min_ns: 1778611668022294241
|
| 40 |
+
timestamp_max_ns: 1778611706217879761
|
| 41 |
+
hz_mean: 15.001733634897816
|
| 42 |
+
category: camera
|
| 43 |
+
- topic: /camera/infra2/image_rect_raw
|
| 44 |
+
msg_type: sensor_msgs/Image
|
| 45 |
+
count: 574
|
| 46 |
+
timestamp_min_ns: 1778611668022598498
|
| 47 |
+
timestamp_max_ns: 1778611706217889008
|
| 48 |
+
hz_mean: 15.001849504194281
|
| 49 |
+
category: camera
|
| 50 |
+
- topic: /ekf_quat/ekf_odom
|
| 51 |
+
msg_type: nav_msgs/Odometry
|
| 52 |
+
count: 7623
|
| 53 |
+
timestamp_min_ns: 1778611667988758057
|
| 54 |
+
timestamp_max_ns: 1778611706267863717
|
| 55 |
+
hz_mean: 199.11645971302457
|
| 56 |
+
category: odometry
|
| 57 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 58 |
+
msg_type: nav_msgs/Odometry
|
| 59 |
+
count: 7621
|
| 60 |
+
timestamp_min_ns: 1778611667988810153
|
| 61 |
+
timestamp_max_ns: 1778611706267953758
|
| 62 |
+
hz_mean: 199.06401456182732
|
| 63 |
+
category: odometry
|
| 64 |
+
- topic: /livox/imu
|
| 65 |
+
msg_type: sensor_msgs/Imu
|
| 66 |
+
count: 7659
|
| 67 |
+
timestamp_min_ns: 1778611667991284498
|
| 68 |
+
timestamp_max_ns: 1778611706278139494
|
| 69 |
+
hz_mean: 200.0164286358873
|
| 70 |
+
category: imu
|
| 71 |
+
- topic: /livox/lidar
|
| 72 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 73 |
+
count: 382
|
| 74 |
+
timestamp_min_ns: 1778611668078272361
|
| 75 |
+
timestamp_max_ns: 1778611706180757686
|
| 76 |
+
hz_mean: 9.999347726275909
|
| 77 |
+
category: lidar
|
| 78 |
+
- topic: /mavros/imu/data
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 7646
|
| 81 |
+
timestamp_min_ns: 1778611667994842751
|
| 82 |
+
timestamp_max_ns: 1778611706267651861
|
| 83 |
+
hz_mean: 199.75016670523144
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /mavros/imu/data_raw
|
| 86 |
+
msg_type: sensor_msgs/Imu
|
| 87 |
+
count: 7654
|
| 88 |
+
timestamp_min_ns: 1778611667994846847
|
| 89 |
+
timestamp_max_ns: 1778611706266297790
|
| 90 |
+
hz_mean: 199.966288484805
|
| 91 |
+
category: imu
|
| 92 |
+
- topic: /nlink_tofsensem_cascade
|
| 93 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 94 |
+
count: 570
|
| 95 |
+
timestamp_min_ns: 1778611668026661360
|
| 96 |
+
timestamp_max_ns: 1778611706225864836
|
| 97 |
+
hz_mean: 14.895598552401605
|
| 98 |
+
category: tof
|
| 99 |
+
- topic: /tf_static
|
| 100 |
+
msg_type: tf2_msgs/TFMessage
|
| 101 |
+
count: 2
|
| 102 |
+
timestamp_min_ns: 1778611667994452989
|
| 103 |
+
timestamp_max_ns: 1778611667994702462
|
| 104 |
+
hz_mean: 4008.4498122041264
|
| 105 |
+
category: tf
|
raw/sessions/2026-05-13_025426_odom_run002/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 49.603809668
|
| 14 |
+
start_time_ns: 1778612068132264640
|
| 15 |
+
end_time_ns: 1778612117736074308
|
| 16 |
+
num_messages: 58251
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 1487
|
| 21 |
+
timestamp_min_ns: 1778612068132264640
|
| 22 |
+
timestamp_max_ns: 1778612117701948944
|
| 23 |
+
hz_mean: 29.978000079376905
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/color/image_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 1487
|
| 28 |
+
timestamp_min_ns: 1778612068135301386
|
| 29 |
+
timestamp_max_ns: 1778612117704139342
|
| 30 |
+
hz_mean: 29.97851192959283
|
| 31 |
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category: camera
|
| 32 |
+
- topic: /camera/depth/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
+
count: 744
|
| 35 |
+
timestamp_min_ns: 1778612068135347755
|
| 36 |
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timestamp_max_ns: 1778612117671518319
|
| 37 |
+
hz_mean: 14.999140860920102
|
| 38 |
+
category: camera
|
| 39 |
+
- topic: /camera/depth/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 744
|
| 42 |
+
timestamp_min_ns: 1778612068135991764
|
| 43 |
+
timestamp_max_ns: 1778612117672165912
|
| 44 |
+
hz_mean: 14.99913977571476
|
| 45 |
+
category: camera
|
| 46 |
+
- topic: /camera/infra1/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 744
|
| 49 |
+
timestamp_min_ns: 1778612068139341377
|
| 50 |
+
timestamp_max_ns: 1778612117672219961
|
| 51 |
+
hz_mean: 15.000137711358494
|
| 52 |
+
category: camera
|
| 53 |
+
- topic: /camera/infra1/image_rect_raw
|
| 54 |
+
msg_type: sensor_msgs/Image
|
| 55 |
+
count: 744
|
| 56 |
+
timestamp_min_ns: 1778612068140172621
|
| 57 |
+
timestamp_max_ns: 1778612117672803937
|
| 58 |
+
hz_mean: 15.000212592380421
|
| 59 |
+
category: camera
|
| 60 |
+
- topic: /camera/infra2/camera_info
|
| 61 |
+
msg_type: sensor_msgs/CameraInfo
|
| 62 |
+
count: 744
|
| 63 |
+
timestamp_min_ns: 1778612068139431907
|
| 64 |
+
timestamp_max_ns: 1778612117673056740
|
| 65 |
+
hz_mean: 14.999911726730787
|
| 66 |
+
category: camera
|
| 67 |
+
- topic: /camera/infra2/image_rect_raw
|
| 68 |
+
msg_type: sensor_msgs/Image
|
| 69 |
+
count: 744
|
| 70 |
+
timestamp_min_ns: 1778612068140419184
|
| 71 |
+
timestamp_max_ns: 1778612117672997283
|
| 72 |
+
hz_mean: 15.000228708365984
|
| 73 |
+
category: camera
|
| 74 |
+
- topic: /ekf_quat/ekf_odom
|
| 75 |
+
msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 9912
|
| 77 |
+
timestamp_min_ns: 1778612068135493293
|
| 78 |
+
timestamp_max_ns: 1778612117734581776
|
| 79 |
+
hz_mean: 199.82222059175498
|
| 80 |
+
category: odometry
|
| 81 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 9912
|
| 84 |
+
timestamp_min_ns: 1778612068138810906
|
| 85 |
+
timestamp_max_ns: 1778612117734619824
|
| 86 |
+
hz_mean: 199.83543400585532
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 9921
|
| 91 |
+
timestamp_min_ns: 1778612068139439363
|
| 92 |
+
timestamp_max_ns: 1778612117736074308
|
| 93 |
+
hz_mean: 200.01356969078137
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 496
|
| 98 |
+
timestamp_min_ns: 1778612068189535410
|
| 99 |
+
timestamp_max_ns: 1778612117690711990
|
| 100 |
+
hz_mean: 9.999762312720366
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 9913
|
| 105 |
+
timestamp_min_ns: 1778612068139810376
|
| 106 |
+
timestamp_max_ns: 1778612117734080457
|
| 107 |
+
hz_mean: 199.86179822409312
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 9913
|
| 112 |
+
timestamp_min_ns: 1778612068143607452
|
| 113 |
+
timestamp_max_ns: 1778612117732619157
|
| 114 |
+
hz_mean: 199.88299139667237
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 744
|
| 119 |
+
timestamp_min_ns: 1778612068199703837
|
| 120 |
+
timestamp_max_ns: 1778612117732906329
|
| 121 |
+
hz_mean: 15.00003962231193
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778612068140133772
|
| 127 |
+
timestamp_max_ns: 1778612068140494321
|
| 128 |
+
hz_mean: 2773.548116899506
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-13_025426_odom_run002/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_025426_odom_run002
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 49.603809668
|
| 4 |
+
start_time_ns: 1778612068132264640
|
| 5 |
+
end_time_ns: 1778612117736074308
|
| 6 |
+
num_messages: 58251
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 1487
|
| 11 |
+
timestamp_min_ns: 1778612068132264640
|
| 12 |
+
timestamp_max_ns: 1778612117701948944
|
| 13 |
+
hz_mean: 29.978000079376905
|
| 14 |
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category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
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count: 1487
|
| 18 |
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timestamp_min_ns: 1778612068135301386
|
| 19 |
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timestamp_max_ns: 1778612117704139342
|
| 20 |
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hz_mean: 29.97851192959283
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 744
|
| 25 |
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timestamp_min_ns: 1778612068135347755
|
| 26 |
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timestamp_max_ns: 1778612117671518319
|
| 27 |
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hz_mean: 14.999140860920102
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 744
|
| 32 |
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timestamp_min_ns: 1778612068135991764
|
| 33 |
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timestamp_max_ns: 1778612117672165912
|
| 34 |
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hz_mean: 14.99913977571476
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 744
|
| 39 |
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timestamp_min_ns: 1778612068139341377
|
| 40 |
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timestamp_max_ns: 1778612117672219961
|
| 41 |
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hz_mean: 15.000137711358494
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 744
|
| 46 |
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timestamp_min_ns: 1778612068140172621
|
| 47 |
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timestamp_max_ns: 1778612117672803937
|
| 48 |
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hz_mean: 15.000212592380421
|
| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 744
|
| 53 |
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timestamp_min_ns: 1778612068139431907
|
| 54 |
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timestamp_max_ns: 1778612117673056740
|
| 55 |
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hz_mean: 14.999911726730787
|
| 56 |
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category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
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msg_type: sensor_msgs/Image
|
| 59 |
+
count: 744
|
| 60 |
+
timestamp_min_ns: 1778612068140419184
|
| 61 |
+
timestamp_max_ns: 1778612117672997283
|
| 62 |
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hz_mean: 15.000228708365984
|
| 63 |
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category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 9912
|
| 67 |
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timestamp_min_ns: 1778612068135493293
|
| 68 |
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timestamp_max_ns: 1778612117734581776
|
| 69 |
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hz_mean: 199.82222059175498
|
| 70 |
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category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
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msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 9912
|
| 74 |
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timestamp_min_ns: 1778612068138810906
|
| 75 |
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timestamp_max_ns: 1778612117734619824
|
| 76 |
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hz_mean: 199.83543400585532
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 9921
|
| 81 |
+
timestamp_min_ns: 1778612068139439363
|
| 82 |
+
timestamp_max_ns: 1778612117736074308
|
| 83 |
+
hz_mean: 200.01356969078137
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 496
|
| 88 |
+
timestamp_min_ns: 1778612068189535410
|
| 89 |
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timestamp_max_ns: 1778612117690711990
|
| 90 |
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hz_mean: 9.999762312720366
|
| 91 |
+
category: lidar
|
| 92 |
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- topic: /mavros/imu/data
|
| 93 |
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msg_type: sensor_msgs/Imu
|
| 94 |
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count: 9913
|
| 95 |
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timestamp_min_ns: 1778612068139810376
|
| 96 |
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timestamp_max_ns: 1778612117734080457
|
| 97 |
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hz_mean: 199.86179822409312
|
| 98 |
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category: imu
|
| 99 |
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- topic: /mavros/imu/data_raw
|
| 100 |
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msg_type: sensor_msgs/Imu
|
| 101 |
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count: 9913
|
| 102 |
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timestamp_min_ns: 1778612068143607452
|
| 103 |
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timestamp_max_ns: 1778612117732619157
|
| 104 |
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hz_mean: 199.88299139667237
|
| 105 |
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category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 744
|
| 109 |
+
timestamp_min_ns: 1778612068199703837
|
| 110 |
+
timestamp_max_ns: 1778612117732906329
|
| 111 |
+
hz_mean: 15.00003962231193
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778612068140133772
|
| 117 |
+
timestamp_max_ns: 1778612068140494321
|
| 118 |
+
hz_mean: 2773.548116899506
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-13_025750_odom_run003/metadata.yaml
CHANGED
|
@@ -10,11 +10,116 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 36.934959561
|
| 14 |
+
start_time_ns: 1778612272207563345
|
| 15 |
+
end_time_ns: 1778612309142522906
|
| 16 |
+
num_messages: 42810
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 1107
|
| 21 |
+
timestamp_min_ns: 1778612272225340291
|
| 22 |
+
timestamp_max_ns: 1778612309119638786
|
| 23 |
+
hz_mean: 29.977531627275354
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/color/image_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 1107
|
| 28 |
+
timestamp_min_ns: 1778612272227976968
|
| 29 |
+
timestamp_max_ns: 1778612309121310510
|
| 30 |
+
hz_mean: 29.97831569600266
|
| 31 |
+
category: camera
|
| 32 |
+
- topic: /camera/depth/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
+
count: 554
|
| 35 |
+
timestamp_min_ns: 1778612272262404206
|
| 36 |
+
timestamp_max_ns: 1778612309129451523
|
| 37 |
+
hz_mean: 14.999845125785342
|
| 38 |
+
category: camera
|
| 39 |
+
- topic: /camera/depth/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 554
|
| 42 |
+
timestamp_min_ns: 1778612272267873597
|
| 43 |
+
timestamp_max_ns: 1778612309129846350
|
| 44 |
+
hz_mean: 15.0019100633998
|
| 45 |
+
category: camera
|
| 46 |
+
- topic: /camera/infra1/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 554
|
| 49 |
+
timestamp_min_ns: 1778612272262523633
|
| 50 |
+
timestamp_max_ns: 1778612309129854222
|
| 51 |
+
hz_mean: 14.999729873716353
|
| 52 |
+
category: camera
|
| 53 |
+
- topic: /camera/infra1/image_rect_raw
|
| 54 |
+
msg_type: sensor_msgs/Image
|
| 55 |
+
count: 554
|
| 56 |
+
timestamp_min_ns: 1778612272267149770
|
| 57 |
+
timestamp_max_ns: 1778612309130602433
|
| 58 |
+
hz_mean: 15.001307800857418
|
| 59 |
+
category: camera
|
| 60 |
+
- topic: /camera/infra2/camera_info
|
| 61 |
+
msg_type: sensor_msgs/CameraInfo
|
| 62 |
+
count: 554
|
| 63 |
+
timestamp_min_ns: 1778612272264649193
|
| 64 |
+
timestamp_max_ns: 1778612309130960779
|
| 65 |
+
hz_mean: 15.000144473633808
|
| 66 |
+
category: camera
|
| 67 |
+
- topic: /camera/infra2/image_rect_raw
|
| 68 |
+
msg_type: sensor_msgs/Image
|
| 69 |
+
count: 554
|
| 70 |
+
timestamp_min_ns: 1778612272267640087
|
| 71 |
+
timestamp_max_ns: 1778612309130801543
|
| 72 |
+
hz_mean: 15.001426306315663
|
| 73 |
+
category: camera
|
| 74 |
+
- topic: /ekf_quat/ekf_odom
|
| 75 |
+
msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 7376
|
| 77 |
+
timestamp_min_ns: 1778612272207563793
|
| 78 |
+
timestamp_max_ns: 1778612309139737969
|
| 79 |
+
hz_mean: 199.6903828313625
|
| 80 |
+
category: odometry
|
| 81 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 7376
|
| 84 |
+
timestamp_min_ns: 1778612272207563345
|
| 85 |
+
timestamp_max_ns: 1778612309139751857
|
| 86 |
+
hz_mean: 199.69030531737147
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 7386
|
| 91 |
+
timestamp_min_ns: 1778612272212755513
|
| 92 |
+
timestamp_max_ns: 1778612309137224879
|
| 93 |
+
hz_mean: 200.00287415910975
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 370
|
| 98 |
+
timestamp_min_ns: 1778612272220444867
|
| 99 |
+
timestamp_max_ns: 1778612309120071086
|
| 100 |
+
hz_mean: 10.00010129669005
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 7376
|
| 105 |
+
timestamp_min_ns: 1778612272213292743
|
| 106 |
+
timestamp_max_ns: 1778612309139689776
|
| 107 |
+
hz_mean: 199.72162443601488
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 7386
|
| 112 |
+
timestamp_min_ns: 1778612272211792544
|
| 113 |
+
timestamp_max_ns: 1778612309142522906
|
| 114 |
+
hz_mean: 199.96896697171258
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /tf_static
|
| 117 |
+
msg_type: tf2_msgs/TFMessage
|
| 118 |
+
count: 2
|
| 119 |
+
timestamp_min_ns: 1778612272212709144
|
| 120 |
+
timestamp_max_ns: 1778612272212735673
|
| 121 |
+
hz_mean: 37694.59836405443
|
| 122 |
+
category: tf
|
| 123 |
calibration_id: robot_v1_template
|
| 124 |
quality:
|
| 125 |
status: unchecked
|
raw/sessions/2026-05-13_025750_odom_run003/topic_summary.yaml
ADDED
|
@@ -0,0 +1,112 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_025750_odom_run003
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 36.934959561
|
| 4 |
+
start_time_ns: 1778612272207563345
|
| 5 |
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end_time_ns: 1778612309142522906
|
| 6 |
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num_messages: 42810
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
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count: 1107
|
| 11 |
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timestamp_min_ns: 1778612272225340291
|
| 12 |
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timestamp_max_ns: 1778612309119638786
|
| 13 |
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hz_mean: 29.977531627275354
|
| 14 |
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category: camera
|
| 15 |
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- topic: /camera/color/image_raw
|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
+
count: 1107
|
| 18 |
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timestamp_min_ns: 1778612272227976968
|
| 19 |
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timestamp_max_ns: 1778612309121310510
|
| 20 |
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hz_mean: 29.97831569600266
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 554
|
| 25 |
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timestamp_min_ns: 1778612272262404206
|
| 26 |
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timestamp_max_ns: 1778612309129451523
|
| 27 |
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hz_mean: 14.999845125785342
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 554
|
| 32 |
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timestamp_min_ns: 1778612272267873597
|
| 33 |
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timestamp_max_ns: 1778612309129846350
|
| 34 |
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hz_mean: 15.0019100633998
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 554
|
| 39 |
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timestamp_min_ns: 1778612272262523633
|
| 40 |
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timestamp_max_ns: 1778612309129854222
|
| 41 |
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hz_mean: 14.999729873716353
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 554
|
| 46 |
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timestamp_min_ns: 1778612272267149770
|
| 47 |
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timestamp_max_ns: 1778612309130602433
|
| 48 |
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hz_mean: 15.001307800857418
|
| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 554
|
| 53 |
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timestamp_min_ns: 1778612272264649193
|
| 54 |
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timestamp_max_ns: 1778612309130960779
|
| 55 |
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hz_mean: 15.000144473633808
|
| 56 |
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category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
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msg_type: sensor_msgs/Image
|
| 59 |
+
count: 554
|
| 60 |
+
timestamp_min_ns: 1778612272267640087
|
| 61 |
+
timestamp_max_ns: 1778612309130801543
|
| 62 |
+
hz_mean: 15.001426306315663
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 7376
|
| 67 |
+
timestamp_min_ns: 1778612272207563793
|
| 68 |
+
timestamp_max_ns: 1778612309139737969
|
| 69 |
+
hz_mean: 199.6903828313625
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 7376
|
| 74 |
+
timestamp_min_ns: 1778612272207563345
|
| 75 |
+
timestamp_max_ns: 1778612309139751857
|
| 76 |
+
hz_mean: 199.69030531737147
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 7386
|
| 81 |
+
timestamp_min_ns: 1778612272212755513
|
| 82 |
+
timestamp_max_ns: 1778612309137224879
|
| 83 |
+
hz_mean: 200.00287415910975
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 370
|
| 88 |
+
timestamp_min_ns: 1778612272220444867
|
| 89 |
+
timestamp_max_ns: 1778612309120071086
|
| 90 |
+
hz_mean: 10.00010129669005
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 7376
|
| 95 |
+
timestamp_min_ns: 1778612272213292743
|
| 96 |
+
timestamp_max_ns: 1778612309139689776
|
| 97 |
+
hz_mean: 199.72162443601488
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 7386
|
| 102 |
+
timestamp_min_ns: 1778612272211792544
|
| 103 |
+
timestamp_max_ns: 1778612309142522906
|
| 104 |
+
hz_mean: 199.96896697171258
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /tf_static
|
| 107 |
+
msg_type: tf2_msgs/TFMessage
|
| 108 |
+
count: 2
|
| 109 |
+
timestamp_min_ns: 1778612272212709144
|
| 110 |
+
timestamp_max_ns: 1778612272212735673
|
| 111 |
+
hz_mean: 37694.59836405443
|
| 112 |
+
category: tf
|
raw/sessions/2026-05-13_030422_odom_run004/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 79.324728221
|
| 14 |
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start_time_ns: 1778612663594568031
|
| 15 |
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end_time_ns: 1778612742919296252
|
| 16 |
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num_messages: 93031
|
| 17 |
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topics:
|
| 18 |
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- topic: /camera/color/camera_info
|
| 19 |
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msg_type: sensor_msgs/CameraInfo
|
| 20 |
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count: 2379
|
| 21 |
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timestamp_min_ns: 1778612663594568031
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| 22 |
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timestamp_max_ns: 1778612742919296252
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| 23 |
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hz_mean: 29.97804156825918
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 2378
|
| 28 |
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timestamp_min_ns: 1778612663598587807
|
| 29 |
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timestamp_max_ns: 1778612742886401317
|
| 30 |
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hz_mean: 29.979386424878598
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 1190
|
| 35 |
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timestamp_min_ns: 1778612663599617592
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| 36 |
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timestamp_max_ns: 1778612742871618241
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| 37 |
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hz_mean: 14.998990693632745
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| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 1190
|
| 42 |
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timestamp_min_ns: 1778612663601980561
|
| 43 |
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timestamp_max_ns: 1778612742872225167
|
| 44 |
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hz_mean: 14.999322960459288
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| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 1190
|
| 49 |
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timestamp_min_ns: 1778612663602035666
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| 50 |
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timestamp_max_ns: 1778612742872795357
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| 51 |
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hz_mean: 14.999225497961174
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| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 1190
|
| 56 |
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timestamp_min_ns: 1778612663602920680
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| 57 |
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timestamp_max_ns: 1778612742872760764
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| 58 |
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hz_mean: 14.999399503519252
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| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 1190
|
| 63 |
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timestamp_min_ns: 1778612663602050643
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| 64 |
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timestamp_max_ns: 1778612742873034787
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| 65 |
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hz_mean: 14.999183028182388
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| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
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count: 1190
|
| 70 |
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timestamp_min_ns: 1778612663603163598
|
| 71 |
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timestamp_max_ns: 1778612742873037443
|
| 72 |
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hz_mean: 14.999393115282432
|
| 73 |
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category: camera
|
| 74 |
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|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
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count: 15808
|
| 77 |
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timestamp_min_ns: 1778612663602976585
|
| 78 |
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timestamp_max_ns: 1778612742917280524
|
| 79 |
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hz_mean: 199.29570348567944
|
| 80 |
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category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
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msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 15807
|
| 84 |
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timestamp_min_ns: 1778612663603000234
|
| 85 |
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timestamp_max_ns: 1778612742917477713
|
| 86 |
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hz_mean: 199.2826593881922
|
| 87 |
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category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 15865
|
| 91 |
+
timestamp_min_ns: 1778612663597480037
|
| 92 |
+
timestamp_max_ns: 1778612742917097863
|
| 93 |
+
hz_mean: 200.00096363046237
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 793
|
| 98 |
+
timestamp_min_ns: 1778612663687235573
|
| 99 |
+
timestamp_max_ns: 1778612742888229937
|
| 100 |
+
hz_mean: 9.999874450566185
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 15830
|
| 105 |
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timestamp_min_ns: 1778612663601320097
|
| 106 |
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timestamp_max_ns: 1778612742916806112
|
| 107 |
+
hz_mean: 199.5701066120486
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 15846
|
| 112 |
+
timestamp_min_ns: 1778612663606743012
|
| 113 |
+
timestamp_max_ns: 1778612742917113672
|
| 114 |
+
hz_mean: 199.78471753620727
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 1183
|
| 119 |
+
timestamp_min_ns: 1778612663661395687
|
| 120 |
+
timestamp_max_ns: 1778612742859544702
|
| 121 |
+
hz_mean: 14.92459122720319
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778612663602029970
|
| 127 |
+
timestamp_max_ns: 1778612663602889319
|
| 128 |
+
hz_mean: 1163.671569990772
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-13_030422_odom_run004/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_030422_odom_run004
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 79.324728221
|
| 4 |
+
start_time_ns: 1778612663594568031
|
| 5 |
+
end_time_ns: 1778612742919296252
|
| 6 |
+
num_messages: 93031
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 2379
|
| 11 |
+
timestamp_min_ns: 1778612663594568031
|
| 12 |
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timestamp_max_ns: 1778612742919296252
|
| 13 |
+
hz_mean: 29.97804156825918
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 2378
|
| 18 |
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timestamp_min_ns: 1778612663598587807
|
| 19 |
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timestamp_max_ns: 1778612742886401317
|
| 20 |
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hz_mean: 29.979386424878598
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 1190
|
| 25 |
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timestamp_min_ns: 1778612663599617592
|
| 26 |
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timestamp_max_ns: 1778612742871618241
|
| 27 |
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hz_mean: 14.998990693632745
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 1190
|
| 32 |
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timestamp_min_ns: 1778612663601980561
|
| 33 |
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timestamp_max_ns: 1778612742872225167
|
| 34 |
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hz_mean: 14.999322960459288
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 1190
|
| 39 |
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timestamp_min_ns: 1778612663602035666
|
| 40 |
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timestamp_max_ns: 1778612742872795357
|
| 41 |
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hz_mean: 14.999225497961174
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 1190
|
| 46 |
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timestamp_min_ns: 1778612663602920680
|
| 47 |
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timestamp_max_ns: 1778612742872760764
|
| 48 |
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hz_mean: 14.999399503519252
|
| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 1190
|
| 53 |
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timestamp_min_ns: 1778612663602050643
|
| 54 |
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timestamp_max_ns: 1778612742873034787
|
| 55 |
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hz_mean: 14.999183028182388
|
| 56 |
+
category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 1190
|
| 60 |
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timestamp_min_ns: 1778612663603163598
|
| 61 |
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timestamp_max_ns: 1778612742873037443
|
| 62 |
+
hz_mean: 14.999393115282432
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 15808
|
| 67 |
+
timestamp_min_ns: 1778612663602976585
|
| 68 |
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timestamp_max_ns: 1778612742917280524
|
| 69 |
+
hz_mean: 199.29570348567944
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 15807
|
| 74 |
+
timestamp_min_ns: 1778612663603000234
|
| 75 |
+
timestamp_max_ns: 1778612742917477713
|
| 76 |
+
hz_mean: 199.2826593881922
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 15865
|
| 81 |
+
timestamp_min_ns: 1778612663597480037
|
| 82 |
+
timestamp_max_ns: 1778612742917097863
|
| 83 |
+
hz_mean: 200.00096363046237
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 793
|
| 88 |
+
timestamp_min_ns: 1778612663687235573
|
| 89 |
+
timestamp_max_ns: 1778612742888229937
|
| 90 |
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hz_mean: 9.999874450566185
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 15830
|
| 95 |
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timestamp_min_ns: 1778612663601320097
|
| 96 |
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timestamp_max_ns: 1778612742916806112
|
| 97 |
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hz_mean: 199.5701066120486
|
| 98 |
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category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 15846
|
| 102 |
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timestamp_min_ns: 1778612663606743012
|
| 103 |
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timestamp_max_ns: 1778612742917113672
|
| 104 |
+
hz_mean: 199.78471753620727
|
| 105 |
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category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 1183
|
| 109 |
+
timestamp_min_ns: 1778612663661395687
|
| 110 |
+
timestamp_max_ns: 1778612742859544702
|
| 111 |
+
hz_mean: 14.92459122720319
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778612663602029970
|
| 117 |
+
timestamp_max_ns: 1778612663602889319
|
| 118 |
+
hz_mean: 1163.671569990772
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-13_031034_odom_run005/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 44.066593117
|
| 14 |
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start_time_ns: 1778613036072283974
|
| 15 |
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end_time_ns: 1778613080138877091
|
| 16 |
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num_messages: 51661
|
| 17 |
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topics:
|
| 18 |
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- topic: /camera/color/camera_info
|
| 19 |
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msg_type: sensor_msgs/CameraInfo
|
| 20 |
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count: 1321
|
| 21 |
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timestamp_min_ns: 1778613036079371348
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| 22 |
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timestamp_max_ns: 1778613080110594988
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| 23 |
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hz_mean: 29.97872625099728
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| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 1321
|
| 28 |
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timestamp_min_ns: 1778613036082674245
|
| 29 |
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timestamp_max_ns: 1778613080112416888
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| 30 |
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hz_mean: 29.97973462399645
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| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 661
|
| 35 |
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timestamp_min_ns: 1778613036072283974
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| 36 |
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timestamp_max_ns: 1778613080079100677
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| 37 |
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hz_mean: 14.997676483948156
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| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 661
|
| 42 |
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timestamp_min_ns: 1778613036074423898
|
| 43 |
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timestamp_max_ns: 1778613080079115621
|
| 44 |
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hz_mean: 14.99840071950866
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 660
|
| 49 |
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timestamp_min_ns: 1778613036139446521
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| 50 |
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timestamp_max_ns: 1778613080079335499
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| 51 |
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hz_mean: 14.997762063758303
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| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
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| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 660
|
| 56 |
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timestamp_min_ns: 1778613036139868068
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| 57 |
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timestamp_max_ns: 1778613080079350955
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| 58 |
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hz_mean: 14.997900673860064
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| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 660
|
| 63 |
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timestamp_min_ns: 1778613036139731456
|
| 64 |
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timestamp_max_ns: 1778613080079944762
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| 65 |
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hz_mean: 14.997651363472423
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| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
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count: 660
|
| 70 |
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timestamp_min_ns: 1778613036140084265
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| 71 |
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timestamp_max_ns: 1778613080079918905
|
| 72 |
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hz_mean: 14.997780610673686
|
| 73 |
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category: camera
|
| 74 |
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|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
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count: 8780
|
| 77 |
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timestamp_min_ns: 1778613036078123349
|
| 78 |
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timestamp_max_ns: 1778613080134801183
|
| 79 |
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hz_mean: 199.2660461843756
|
| 80 |
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category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
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msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 8781
|
| 84 |
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timestamp_min_ns: 1778613036078146742
|
| 85 |
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timestamp_max_ns: 1778613080134804767
|
| 86 |
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hz_mean: 199.28883382434
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 8812
|
| 91 |
+
timestamp_min_ns: 1778613036079901857
|
| 92 |
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timestamp_max_ns: 1778613080134209872
|
| 93 |
+
hz_mean: 200.00314150888386
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 441
|
| 98 |
+
timestamp_min_ns: 1778613036107556233
|
| 99 |
+
timestamp_max_ns: 1778613080107449534
|
| 100 |
+
hz_mean: 10.000024249831533
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 8787
|
| 105 |
+
timestamp_min_ns: 1778613036090113564
|
| 106 |
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timestamp_max_ns: 1778613080138877091
|
| 107 |
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hz_mean: 199.4607634017822
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 8795
|
| 112 |
+
timestamp_min_ns: 1778613036095887114
|
| 113 |
+
timestamp_max_ns: 1778613080134708925
|
| 114 |
+
hz_mean: 199.6874493541387
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 659
|
| 119 |
+
timestamp_min_ns: 1778613036147930378
|
| 120 |
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timestamp_max_ns: 1778613080081394973
|
| 121 |
+
hz_mean: 14.97719349169849
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778613036088595671
|
| 127 |
+
timestamp_max_ns: 1778613036088992160
|
| 128 |
+
hz_mean: 2522.1380668820575
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-13_031034_odom_run005/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_031034_odom_run005
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 44.066593117
|
| 4 |
+
start_time_ns: 1778613036072283974
|
| 5 |
+
end_time_ns: 1778613080138877091
|
| 6 |
+
num_messages: 51661
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 1321
|
| 11 |
+
timestamp_min_ns: 1778613036079371348
|
| 12 |
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timestamp_max_ns: 1778613080110594988
|
| 13 |
+
hz_mean: 29.97872625099728
|
| 14 |
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category: camera
|
| 15 |
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- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
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count: 1321
|
| 18 |
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timestamp_min_ns: 1778613036082674245
|
| 19 |
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timestamp_max_ns: 1778613080112416888
|
| 20 |
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hz_mean: 29.97973462399645
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 661
|
| 25 |
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timestamp_min_ns: 1778613036072283974
|
| 26 |
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timestamp_max_ns: 1778613080079100677
|
| 27 |
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hz_mean: 14.997676483948156
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 661
|
| 32 |
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timestamp_min_ns: 1778613036074423898
|
| 33 |
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timestamp_max_ns: 1778613080079115621
|
| 34 |
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hz_mean: 14.99840071950866
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 660
|
| 39 |
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timestamp_min_ns: 1778613036139446521
|
| 40 |
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timestamp_max_ns: 1778613080079335499
|
| 41 |
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hz_mean: 14.997762063758303
|
| 42 |
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category: camera
|
| 43 |
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|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 660
|
| 46 |
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timestamp_min_ns: 1778613036139868068
|
| 47 |
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timestamp_max_ns: 1778613080079350955
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| 48 |
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hz_mean: 14.997900673860064
|
| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 660
|
| 53 |
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timestamp_min_ns: 1778613036139731456
|
| 54 |
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timestamp_max_ns: 1778613080079944762
|
| 55 |
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hz_mean: 14.997651363472423
|
| 56 |
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category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
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count: 660
|
| 60 |
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timestamp_min_ns: 1778613036140084265
|
| 61 |
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timestamp_max_ns: 1778613080079918905
|
| 62 |
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hz_mean: 14.997780610673686
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 8780
|
| 67 |
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timestamp_min_ns: 1778613036078123349
|
| 68 |
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timestamp_max_ns: 1778613080134801183
|
| 69 |
+
hz_mean: 199.2660461843756
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 8781
|
| 74 |
+
timestamp_min_ns: 1778613036078146742
|
| 75 |
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timestamp_max_ns: 1778613080134804767
|
| 76 |
+
hz_mean: 199.28883382434
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 8812
|
| 81 |
+
timestamp_min_ns: 1778613036079901857
|
| 82 |
+
timestamp_max_ns: 1778613080134209872
|
| 83 |
+
hz_mean: 200.00314150888386
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 441
|
| 88 |
+
timestamp_min_ns: 1778613036107556233
|
| 89 |
+
timestamp_max_ns: 1778613080107449534
|
| 90 |
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hz_mean: 10.000024249831533
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 8787
|
| 95 |
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timestamp_min_ns: 1778613036090113564
|
| 96 |
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timestamp_max_ns: 1778613080138877091
|
| 97 |
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hz_mean: 199.4607634017822
|
| 98 |
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category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 8795
|
| 102 |
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timestamp_min_ns: 1778613036095887114
|
| 103 |
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timestamp_max_ns: 1778613080134708925
|
| 104 |
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hz_mean: 199.6874493541387
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 659
|
| 109 |
+
timestamp_min_ns: 1778613036147930378
|
| 110 |
+
timestamp_max_ns: 1778613080081394973
|
| 111 |
+
hz_mean: 14.97719349169849
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778613036088595671
|
| 117 |
+
timestamp_max_ns: 1778613036088992160
|
| 118 |
+
hz_mean: 2522.1380668820575
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-13_033144_odom_run006/metadata.yaml
CHANGED
|
@@ -10,11 +10,116 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 86.071242991
|
| 14 |
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start_time_ns: 1778614305827332865
|
| 15 |
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end_time_ns: 1778614391898575856
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| 16 |
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num_messages: 99708
|
| 17 |
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topics:
|
| 18 |
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- topic: /camera/color/camera_info
|
| 19 |
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msg_type: sensor_msgs/CameraInfo
|
| 20 |
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count: 2581
|
| 21 |
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timestamp_min_ns: 1778614305827332865
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| 22 |
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| 23 |
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hz_mean: 29.981918384384446
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| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 2581
|
| 28 |
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timestamp_min_ns: 1778614305828853344
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| 29 |
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| 30 |
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hz_mean: 29.981939585912162
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| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 1291
|
| 35 |
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timestamp_min_ns: 1778614305881139445
|
| 36 |
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timestamp_max_ns: 1778614391889750983
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| 37 |
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hz_mean: 14.99849813794584
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| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 1291
|
| 42 |
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timestamp_min_ns: 1778614305883609147
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| 43 |
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timestamp_max_ns: 1778614391889936685
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| 44 |
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hz_mean: 14.998896440846657
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| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 1291
|
| 49 |
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timestamp_min_ns: 1778614305881580871
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| 50 |
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timestamp_max_ns: 1778614391891784004
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| 51 |
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hz_mean: 14.998220594889615
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| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 1291
|
| 56 |
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timestamp_min_ns: 1778614305881972760
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| 57 |
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timestamp_max_ns: 1778614391892086925
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| 58 |
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hz_mean: 14.99823610889867
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| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 1291
|
| 63 |
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timestamp_min_ns: 1778614305882953696
|
| 64 |
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timestamp_max_ns: 1778614391893601051
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| 65 |
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hz_mean: 14.99814313308978
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| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
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count: 1291
|
| 70 |
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timestamp_min_ns: 1778614305884610917
|
| 71 |
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timestamp_max_ns: 1778614391892187056
|
| 72 |
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hz_mean: 14.998678696806707
|
| 73 |
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category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
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count: 17167
|
| 77 |
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timestamp_min_ns: 1778614305837206298
|
| 78 |
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timestamp_max_ns: 1778614391896424112
|
| 79 |
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hz_mean: 199.4673021209758
|
| 80 |
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category: odometry
|
| 81 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 17164
|
| 84 |
+
timestamp_min_ns: 1778614305837574313
|
| 85 |
+
timestamp_max_ns: 1778614391896428560
|
| 86 |
+
hz_mean: 199.43328493242518
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 17213
|
| 91 |
+
timestamp_min_ns: 1778614305837781362
|
| 92 |
+
timestamp_max_ns: 1778614391896815260
|
| 93 |
+
hz_mean: 200.00224520763538
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 860
|
| 98 |
+
timestamp_min_ns: 1778614305915902037
|
| 99 |
+
timestamp_max_ns: 1778614391817756371
|
| 100 |
+
hz_mean: 9.999784133414304
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 17198
|
| 105 |
+
timestamp_min_ns: 1778614305837104598
|
| 106 |
+
timestamp_max_ns: 1778614391898544239
|
| 107 |
+
hz_mean: 199.8223603013873
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 17196
|
| 112 |
+
timestamp_min_ns: 1778614305837066708
|
| 113 |
+
timestamp_max_ns: 1778614391898575856
|
| 114 |
+
hz_mean: 199.79895972344332
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /tf_static
|
| 117 |
+
msg_type: tf2_msgs/TFMessage
|
| 118 |
+
count: 2
|
| 119 |
+
timestamp_min_ns: 1778614305837756945
|
| 120 |
+
timestamp_max_ns: 1778614305837813587
|
| 121 |
+
hz_mean: 17654.743829667033
|
| 122 |
+
category: tf
|
| 123 |
calibration_id: robot_v1_template
|
| 124 |
quality:
|
| 125 |
status: unchecked
|
raw/sessions/2026-05-13_033144_odom_run006/topic_summary.yaml
ADDED
|
@@ -0,0 +1,112 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_033144_odom_run006
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 86.071242991
|
| 4 |
+
start_time_ns: 1778614305827332865
|
| 5 |
+
end_time_ns: 1778614391898575856
|
| 6 |
+
num_messages: 99708
|
| 7 |
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topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 2581
|
| 11 |
+
timestamp_min_ns: 1778614305827332865
|
| 12 |
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timestamp_max_ns: 1778614391879198090
|
| 13 |
+
hz_mean: 29.981918384384446
|
| 14 |
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category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 2581
|
| 18 |
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timestamp_min_ns: 1778614305828853344
|
| 19 |
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timestamp_max_ns: 1778614391880657718
|
| 20 |
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hz_mean: 29.981939585912162
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 1291
|
| 25 |
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timestamp_min_ns: 1778614305881139445
|
| 26 |
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timestamp_max_ns: 1778614391889750983
|
| 27 |
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hz_mean: 14.99849813794584
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 1291
|
| 32 |
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timestamp_min_ns: 1778614305883609147
|
| 33 |
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timestamp_max_ns: 1778614391889936685
|
| 34 |
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hz_mean: 14.998896440846657
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 1291
|
| 39 |
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timestamp_min_ns: 1778614305881580871
|
| 40 |
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timestamp_max_ns: 1778614391891784004
|
| 41 |
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hz_mean: 14.998220594889615
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 1291
|
| 46 |
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timestamp_min_ns: 1778614305881972760
|
| 47 |
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timestamp_max_ns: 1778614391892086925
|
| 48 |
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hz_mean: 14.99823610889867
|
| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 1291
|
| 53 |
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timestamp_min_ns: 1778614305882953696
|
| 54 |
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timestamp_max_ns: 1778614391893601051
|
| 55 |
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hz_mean: 14.99814313308978
|
| 56 |
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category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 1291
|
| 60 |
+
timestamp_min_ns: 1778614305884610917
|
| 61 |
+
timestamp_max_ns: 1778614391892187056
|
| 62 |
+
hz_mean: 14.998678696806707
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 17167
|
| 67 |
+
timestamp_min_ns: 1778614305837206298
|
| 68 |
+
timestamp_max_ns: 1778614391896424112
|
| 69 |
+
hz_mean: 199.4673021209758
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 17164
|
| 74 |
+
timestamp_min_ns: 1778614305837574313
|
| 75 |
+
timestamp_max_ns: 1778614391896428560
|
| 76 |
+
hz_mean: 199.43328493242518
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 17213
|
| 81 |
+
timestamp_min_ns: 1778614305837781362
|
| 82 |
+
timestamp_max_ns: 1778614391896815260
|
| 83 |
+
hz_mean: 200.00224520763538
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 860
|
| 88 |
+
timestamp_min_ns: 1778614305915902037
|
| 89 |
+
timestamp_max_ns: 1778614391817756371
|
| 90 |
+
hz_mean: 9.999784133414304
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 17198
|
| 95 |
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timestamp_min_ns: 1778614305837104598
|
| 96 |
+
timestamp_max_ns: 1778614391898544239
|
| 97 |
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hz_mean: 199.8223603013873
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 17196
|
| 102 |
+
timestamp_min_ns: 1778614305837066708
|
| 103 |
+
timestamp_max_ns: 1778614391898575856
|
| 104 |
+
hz_mean: 199.79895972344332
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /tf_static
|
| 107 |
+
msg_type: tf2_msgs/TFMessage
|
| 108 |
+
count: 2
|
| 109 |
+
timestamp_min_ns: 1778614305837756945
|
| 110 |
+
timestamp_max_ns: 1778614305837813587
|
| 111 |
+
hz_mean: 17654.743829667033
|
| 112 |
+
category: tf
|
raw/sessions/2026-05-13_033707_odom_run007/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 35.696197534
|
| 14 |
+
start_time_ns: 1778614628712720572
|
| 15 |
+
end_time_ns: 1778614664408918106
|
| 16 |
+
num_messages: 41815
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 1071
|
| 21 |
+
timestamp_min_ns: 1778614628716229184
|
| 22 |
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timestamp_max_ns: 1778614664406232154
|
| 23 |
+
hz_mean: 29.980384168065534
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/color/image_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 1071
|
| 28 |
+
timestamp_min_ns: 1778614628719881697
|
| 29 |
+
timestamp_max_ns: 1778614664407804224
|
| 30 |
+
hz_mean: 29.982131887629002
|
| 31 |
+
category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
+
count: 536
|
| 35 |
+
timestamp_min_ns: 1778614628724979741
|
| 36 |
+
timestamp_max_ns: 1778614664395498140
|
| 37 |
+
hz_mean: 14.998380287486889
|
| 38 |
+
category: camera
|
| 39 |
+
- topic: /camera/depth/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 536
|
| 42 |
+
timestamp_min_ns: 1778614628727261346
|
| 43 |
+
timestamp_max_ns: 1778614664395382201
|
| 44 |
+
hz_mean: 14.999388450401169
|
| 45 |
+
category: camera
|
| 46 |
+
- topic: /camera/infra1/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 536
|
| 49 |
+
timestamp_min_ns: 1778614628726747951
|
| 50 |
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timestamp_max_ns: 1778614664395441179
|
| 51 |
+
hz_mean: 14.999147756274509
|
| 52 |
+
category: camera
|
| 53 |
+
- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 536
|
| 56 |
+
timestamp_min_ns: 1778614628728652382
|
| 57 |
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timestamp_max_ns: 1778614664395443547
|
| 58 |
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hz_mean: 14.999947641070616
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
+
msg_type: sensor_msgs/CameraInfo
|
| 62 |
+
count: 536
|
| 63 |
+
timestamp_min_ns: 1778614628727188484
|
| 64 |
+
timestamp_max_ns: 1778614664396004648
|
| 65 |
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hz_mean: 14.999096060271478
|
| 66 |
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category: camera
|
| 67 |
+
- topic: /camera/infra2/image_rect_raw
|
| 68 |
+
msg_type: sensor_msgs/Image
|
| 69 |
+
count: 536
|
| 70 |
+
timestamp_min_ns: 1778614628729001108
|
| 71 |
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timestamp_max_ns: 1778614664395577630
|
| 72 |
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hz_mean: 15.00003791140423
|
| 73 |
+
category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
+
msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 7104
|
| 77 |
+
timestamp_min_ns: 1778614628712720572
|
| 78 |
+
timestamp_max_ns: 1778614664402235644
|
| 79 |
+
hz_mean: 199.02203730340446
|
| 80 |
+
category: odometry
|
| 81 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 7104
|
| 84 |
+
timestamp_min_ns: 1778614628712727579
|
| 85 |
+
timestamp_max_ns: 1778614664402335870
|
| 86 |
+
hz_mean: 199.02151747042834
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 7140
|
| 91 |
+
timestamp_min_ns: 1778614628715354071
|
| 92 |
+
timestamp_max_ns: 1778614664408918106
|
| 93 |
+
hz_mean: 200.00804607238769
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 357
|
| 98 |
+
timestamp_min_ns: 1778614628752336630
|
| 99 |
+
timestamp_max_ns: 1778614664353565754
|
| 100 |
+
hz_mean: 9.999654752369443
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 7105
|
| 105 |
+
timestamp_min_ns: 1778614628716196193
|
| 106 |
+
timestamp_max_ns: 1778614664402258044
|
| 107 |
+
hz_mean: 199.06931814615265
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 7111
|
| 112 |
+
timestamp_min_ns: 1778614628714324498
|
| 113 |
+
timestamp_max_ns: 1778614664402323710
|
| 114 |
+
hz_mean: 199.2266351992431
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 534
|
| 119 |
+
timestamp_min_ns: 1778614628745350668
|
| 120 |
+
timestamp_max_ns: 1778614664345013999
|
| 121 |
+
hz_mean: 14.972051702968391
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778614628719367471
|
| 127 |
+
timestamp_max_ns: 1778614628720390164
|
| 128 |
+
hz_mean: 977.8105452956067
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-13_033707_odom_run007/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-13_033707_odom_run007
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 35.696197534
|
| 4 |
+
start_time_ns: 1778614628712720572
|
| 5 |
+
end_time_ns: 1778614664408918106
|
| 6 |
+
num_messages: 41815
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 1071
|
| 11 |
+
timestamp_min_ns: 1778614628716229184
|
| 12 |
+
timestamp_max_ns: 1778614664406232154
|
| 13 |
+
hz_mean: 29.980384168065534
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 1071
|
| 18 |
+
timestamp_min_ns: 1778614628719881697
|
| 19 |
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timestamp_max_ns: 1778614664407804224
|
| 20 |
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hz_mean: 29.982131887629002
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 536
|
| 25 |
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timestamp_min_ns: 1778614628724979741
|
| 26 |
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timestamp_max_ns: 1778614664395498140
|
| 27 |
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hz_mean: 14.998380287486889
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 536
|
| 32 |
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timestamp_min_ns: 1778614628727261346
|
| 33 |
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timestamp_max_ns: 1778614664395382201
|
| 34 |
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hz_mean: 14.999388450401169
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 536
|
| 39 |
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timestamp_min_ns: 1778614628726747951
|
| 40 |
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timestamp_max_ns: 1778614664395441179
|
| 41 |
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hz_mean: 14.999147756274509
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 536
|
| 46 |
+
timestamp_min_ns: 1778614628728652382
|
| 47 |
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timestamp_max_ns: 1778614664395443547
|
| 48 |
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hz_mean: 14.999947641070616
|
| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
+
msg_type: sensor_msgs/CameraInfo
|
| 52 |
+
count: 536
|
| 53 |
+
timestamp_min_ns: 1778614628727188484
|
| 54 |
+
timestamp_max_ns: 1778614664396004648
|
| 55 |
+
hz_mean: 14.999096060271478
|
| 56 |
+
category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 536
|
| 60 |
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timestamp_min_ns: 1778614628729001108
|
| 61 |
+
timestamp_max_ns: 1778614664395577630
|
| 62 |
+
hz_mean: 15.00003791140423
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 7104
|
| 67 |
+
timestamp_min_ns: 1778614628712720572
|
| 68 |
+
timestamp_max_ns: 1778614664402235644
|
| 69 |
+
hz_mean: 199.02203730340446
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 7104
|
| 74 |
+
timestamp_min_ns: 1778614628712727579
|
| 75 |
+
timestamp_max_ns: 1778614664402335870
|
| 76 |
+
hz_mean: 199.02151747042834
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 7140
|
| 81 |
+
timestamp_min_ns: 1778614628715354071
|
| 82 |
+
timestamp_max_ns: 1778614664408918106
|
| 83 |
+
hz_mean: 200.00804607238769
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 357
|
| 88 |
+
timestamp_min_ns: 1778614628752336630
|
| 89 |
+
timestamp_max_ns: 1778614664353565754
|
| 90 |
+
hz_mean: 9.999654752369443
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 7105
|
| 95 |
+
timestamp_min_ns: 1778614628716196193
|
| 96 |
+
timestamp_max_ns: 1778614664402258044
|
| 97 |
+
hz_mean: 199.06931814615265
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 7111
|
| 102 |
+
timestamp_min_ns: 1778614628714324498
|
| 103 |
+
timestamp_max_ns: 1778614664402323710
|
| 104 |
+
hz_mean: 199.2266351992431
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 534
|
| 109 |
+
timestamp_min_ns: 1778614628745350668
|
| 110 |
+
timestamp_max_ns: 1778614664345013999
|
| 111 |
+
hz_mean: 14.972051702968391
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778614628719367471
|
| 117 |
+
timestamp_max_ns: 1778614628720390164
|
| 118 |
+
hz_mean: 977.8105452956067
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_001841_odom_run008/metadata.yaml
CHANGED
|
@@ -10,11 +10,109 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 240.686836001
|
| 14 |
+
start_time_ns: 1778689123749367165
|
| 15 |
+
end_time_ns: 1778689364436203166
|
| 16 |
+
num_messages: 267959
|
| 17 |
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topics:
|
| 18 |
+
- topic: /camera/depth/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 3610
|
| 21 |
+
timestamp_min_ns: 1778689123758066263
|
| 22 |
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timestamp_max_ns: 1778689364382251605
|
| 23 |
+
hz_mean: 14.998492337212552
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/depth/image_rect_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 3610
|
| 28 |
+
timestamp_min_ns: 1778689123760159587
|
| 29 |
+
timestamp_max_ns: 1778689364383230344
|
| 30 |
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hz_mean: 14.998561811409392
|
| 31 |
+
category: camera
|
| 32 |
+
- topic: /camera/infra1/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 3610
|
| 35 |
+
timestamp_min_ns: 1778689123759684945
|
| 36 |
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timestamp_max_ns: 1778689364381978640
|
| 37 |
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hz_mean: 14.998610247538311
|
| 38 |
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category: camera
|
| 39 |
+
- topic: /camera/infra1/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 3610
|
| 42 |
+
timestamp_min_ns: 1778689123760706038
|
| 43 |
+
timestamp_max_ns: 1778689364381936111
|
| 44 |
+
hz_mean: 14.998676546143068
|
| 45 |
+
category: camera
|
| 46 |
+
- topic: /camera/infra2/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 3610
|
| 49 |
+
timestamp_min_ns: 1778689123760200644
|
| 50 |
+
timestamp_max_ns: 1778689364382213493
|
| 51 |
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hz_mean: 14.998627753416695
|
| 52 |
+
category: camera
|
| 53 |
+
- topic: /camera/infra2/image_rect_raw
|
| 54 |
+
msg_type: sensor_msgs/Image
|
| 55 |
+
count: 3610
|
| 56 |
+
timestamp_min_ns: 1778689123760823386
|
| 57 |
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timestamp_max_ns: 1778689364382286134
|
| 58 |
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hz_mean: 14.998662042794008
|
| 59 |
+
category: camera
|
| 60 |
+
- topic: /ekf_quat/ekf_odom
|
| 61 |
+
msg_type: nav_msgs/Odometry
|
| 62 |
+
count: 48014
|
| 63 |
+
timestamp_min_ns: 1778689123749553188
|
| 64 |
+
timestamp_max_ns: 1778689364430709685
|
| 65 |
+
hz_mean: 199.48798941639814
|
| 66 |
+
category: odometry
|
| 67 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 68 |
+
msg_type: nav_msgs/Odometry
|
| 69 |
+
count: 48014
|
| 70 |
+
timestamp_min_ns: 1778689123749580869
|
| 71 |
+
timestamp_max_ns: 1778689364430710965
|
| 72 |
+
hz_mean: 199.488011298805
|
| 73 |
+
category: odometry
|
| 74 |
+
- topic: /livox/imu
|
| 75 |
+
msg_type: sensor_msgs/Imu
|
| 76 |
+
count: 48137
|
| 77 |
+
timestamp_min_ns: 1778689123752526319
|
| 78 |
+
timestamp_max_ns: 1778689364436203166
|
| 79 |
+
hz_mean: 199.9969446644258
|
| 80 |
+
category: imu
|
| 81 |
+
- topic: /livox/lidar
|
| 82 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 83 |
+
count: 2407
|
| 84 |
+
timestamp_min_ns: 1778689123768166660
|
| 85 |
+
timestamp_max_ns: 1778689364367364504
|
| 86 |
+
hz_mean: 10.000033339928278
|
| 87 |
+
category: lidar
|
| 88 |
+
- topic: /mavros/imu/data
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 48049
|
| 91 |
+
timestamp_min_ns: 1778689123749367165
|
| 92 |
+
timestamp_max_ns: 1778689364430657620
|
| 93 |
+
hz_mean: 199.63329891229537
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /mavros/imu/data_raw
|
| 96 |
+
msg_type: sensor_msgs/Imu
|
| 97 |
+
count: 48089
|
| 98 |
+
timestamp_min_ns: 1778689123749368029
|
| 99 |
+
timestamp_max_ns: 1778689364433226213
|
| 100 |
+
hz_mean: 199.79736224453112
|
| 101 |
+
category: imu
|
| 102 |
+
- topic: /nlink_tofsensem_cascade
|
| 103 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 104 |
+
count: 3587
|
| 105 |
+
timestamp_min_ns: 1778689123799726135
|
| 106 |
+
timestamp_max_ns: 1778689364399043607
|
| 107 |
+
hz_mean: 14.904447933096588
|
| 108 |
+
category: tof
|
| 109 |
+
- topic: /tf_static
|
| 110 |
+
msg_type: tf2_msgs/TFMessage
|
| 111 |
+
count: 2
|
| 112 |
+
timestamp_min_ns: 1778689123750196891
|
| 113 |
+
timestamp_max_ns: 1778689123750727214
|
| 114 |
+
hz_mean: 1885.643277775997
|
| 115 |
+
category: tf
|
| 116 |
calibration_id: robot_v1_template
|
| 117 |
quality:
|
| 118 |
status: unchecked
|
raw/sessions/2026-05-14_001841_odom_run008/topic_summary.yaml
ADDED
|
@@ -0,0 +1,105 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
| 1 |
+
session_id: 2026-05-14_001841_odom_run008
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 240.686836001
|
| 4 |
+
start_time_ns: 1778689123749367165
|
| 5 |
+
end_time_ns: 1778689364436203166
|
| 6 |
+
num_messages: 267959
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/depth/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 3610
|
| 11 |
+
timestamp_min_ns: 1778689123758066263
|
| 12 |
+
timestamp_max_ns: 1778689364382251605
|
| 13 |
+
hz_mean: 14.998492337212552
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/depth/image_rect_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 3610
|
| 18 |
+
timestamp_min_ns: 1778689123760159587
|
| 19 |
+
timestamp_max_ns: 1778689364383230344
|
| 20 |
+
hz_mean: 14.998561811409392
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/infra1/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 3610
|
| 25 |
+
timestamp_min_ns: 1778689123759684945
|
| 26 |
+
timestamp_max_ns: 1778689364381978640
|
| 27 |
+
hz_mean: 14.998610247538311
|
| 28 |
+
category: camera
|
| 29 |
+
- topic: /camera/infra1/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 3610
|
| 32 |
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timestamp_min_ns: 1778689123760706038
|
| 33 |
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timestamp_max_ns: 1778689364381936111
|
| 34 |
+
hz_mean: 14.998676546143068
|
| 35 |
+
category: camera
|
| 36 |
+
- topic: /camera/infra2/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 3610
|
| 39 |
+
timestamp_min_ns: 1778689123760200644
|
| 40 |
+
timestamp_max_ns: 1778689364382213493
|
| 41 |
+
hz_mean: 14.998627753416695
|
| 42 |
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category: camera
|
| 43 |
+
- topic: /camera/infra2/image_rect_raw
|
| 44 |
+
msg_type: sensor_msgs/Image
|
| 45 |
+
count: 3610
|
| 46 |
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timestamp_min_ns: 1778689123760823386
|
| 47 |
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timestamp_max_ns: 1778689364382286134
|
| 48 |
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hz_mean: 14.998662042794008
|
| 49 |
+
category: camera
|
| 50 |
+
- topic: /ekf_quat/ekf_odom
|
| 51 |
+
msg_type: nav_msgs/Odometry
|
| 52 |
+
count: 48014
|
| 53 |
+
timestamp_min_ns: 1778689123749553188
|
| 54 |
+
timestamp_max_ns: 1778689364430709685
|
| 55 |
+
hz_mean: 199.48798941639814
|
| 56 |
+
category: odometry
|
| 57 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 58 |
+
msg_type: nav_msgs/Odometry
|
| 59 |
+
count: 48014
|
| 60 |
+
timestamp_min_ns: 1778689123749580869
|
| 61 |
+
timestamp_max_ns: 1778689364430710965
|
| 62 |
+
hz_mean: 199.488011298805
|
| 63 |
+
category: odometry
|
| 64 |
+
- topic: /livox/imu
|
| 65 |
+
msg_type: sensor_msgs/Imu
|
| 66 |
+
count: 48137
|
| 67 |
+
timestamp_min_ns: 1778689123752526319
|
| 68 |
+
timestamp_max_ns: 1778689364436203166
|
| 69 |
+
hz_mean: 199.9969446644258
|
| 70 |
+
category: imu
|
| 71 |
+
- topic: /livox/lidar
|
| 72 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 73 |
+
count: 2407
|
| 74 |
+
timestamp_min_ns: 1778689123768166660
|
| 75 |
+
timestamp_max_ns: 1778689364367364504
|
| 76 |
+
hz_mean: 10.000033339928278
|
| 77 |
+
category: lidar
|
| 78 |
+
- topic: /mavros/imu/data
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 48049
|
| 81 |
+
timestamp_min_ns: 1778689123749367165
|
| 82 |
+
timestamp_max_ns: 1778689364430657620
|
| 83 |
+
hz_mean: 199.63329891229537
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /mavros/imu/data_raw
|
| 86 |
+
msg_type: sensor_msgs/Imu
|
| 87 |
+
count: 48089
|
| 88 |
+
timestamp_min_ns: 1778689123749368029
|
| 89 |
+
timestamp_max_ns: 1778689364433226213
|
| 90 |
+
hz_mean: 199.79736224453112
|
| 91 |
+
category: imu
|
| 92 |
+
- topic: /nlink_tofsensem_cascade
|
| 93 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 94 |
+
count: 3587
|
| 95 |
+
timestamp_min_ns: 1778689123799726135
|
| 96 |
+
timestamp_max_ns: 1778689364399043607
|
| 97 |
+
hz_mean: 14.904447933096588
|
| 98 |
+
category: tof
|
| 99 |
+
- topic: /tf_static
|
| 100 |
+
msg_type: tf2_msgs/TFMessage
|
| 101 |
+
count: 2
|
| 102 |
+
timestamp_min_ns: 1778689123750196891
|
| 103 |
+
timestamp_max_ns: 1778689123750727214
|
| 104 |
+
hz_mean: 1885.643277775997
|
| 105 |
+
category: tf
|
raw/sessions/2026-05-14_002421_odom_run009/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 12.536797406
|
| 14 |
+
start_time_ns: 1778689463413506659
|
| 15 |
+
end_time_ns: 1778689475950304065
|
| 16 |
+
num_messages: 14644
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 376
|
| 21 |
+
timestamp_min_ns: 1778689463435896548
|
| 22 |
+
timestamp_max_ns: 1778689475945547810
|
| 23 |
+
hz_mean: 29.97685484159902
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/color/image_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 376
|
| 28 |
+
timestamp_min_ns: 1778689463439737841
|
| 29 |
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timestamp_max_ns: 1778689475947163938
|
| 30 |
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hz_mean: 29.982187949121407
|
| 31 |
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category: camera
|
| 32 |
+
- topic: /camera/depth/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
+
count: 188
|
| 35 |
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timestamp_min_ns: 1778689463448422463
|
| 36 |
+
timestamp_max_ns: 1778689475916522332
|
| 37 |
+
hz_mean: 14.998275756913573
|
| 38 |
+
category: camera
|
| 39 |
+
- topic: /camera/depth/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 188
|
| 42 |
+
timestamp_min_ns: 1778689463450515401
|
| 43 |
+
timestamp_max_ns: 1778689475917328364
|
| 44 |
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hz_mean: 14.999823977065628
|
| 45 |
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category: camera
|
| 46 |
+
- topic: /camera/infra1/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 188
|
| 49 |
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timestamp_min_ns: 1778689463450292804
|
| 50 |
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timestamp_max_ns: 1778689475916450715
|
| 51 |
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hz_mean: 15.0006121641531
|
| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 188
|
| 56 |
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timestamp_min_ns: 1778689463450903185
|
| 57 |
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timestamp_max_ns: 1778689475916784321
|
| 58 |
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hz_mean: 15.000945216777815
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 188
|
| 63 |
+
timestamp_min_ns: 1778689463450569258
|
| 64 |
+
timestamp_max_ns: 1778689475916817186
|
| 65 |
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hz_mean: 15.000503846870068
|
| 66 |
+
category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
+
count: 188
|
| 70 |
+
timestamp_min_ns: 1778689463451190230
|
| 71 |
+
timestamp_max_ns: 1778689475917407886
|
| 72 |
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hz_mean: 15.000540272934892
|
| 73 |
+
category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
+
msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 2484
|
| 77 |
+
timestamp_min_ns: 1778689463413506659
|
| 78 |
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timestamp_max_ns: 1778689475945573506
|
| 79 |
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hz_mean: 198.13172322763307
|
| 80 |
+
category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 2484
|
| 84 |
+
timestamp_min_ns: 1778689463413507523
|
| 85 |
+
timestamp_max_ns: 1778689475945609571
|
| 86 |
+
hz_mean: 198.13116670209865
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 2507
|
| 91 |
+
timestamp_min_ns: 1778689463416439902
|
| 92 |
+
timestamp_max_ns: 1778689475946518741
|
| 93 |
+
hz_mean: 199.99874160408706
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 126
|
| 98 |
+
timestamp_min_ns: 1778689463436968537
|
| 99 |
+
timestamp_max_ns: 1778689475936548365
|
| 100 |
+
hz_mean: 10.000336148899228
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 2486
|
| 105 |
+
timestamp_min_ns: 1778689463416481855
|
| 106 |
+
timestamp_max_ns: 1778689475950268928
|
| 107 |
+
hz_mean: 198.26409891333887
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 2489
|
| 112 |
+
timestamp_min_ns: 1778689463415922996
|
| 113 |
+
timestamp_max_ns: 1778689475950304065
|
| 114 |
+
hz_mean: 198.49404500341188
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 186
|
| 119 |
+
timestamp_min_ns: 1778689463476416048
|
| 120 |
+
timestamp_max_ns: 1778689475942346850
|
| 121 |
+
hz_mean: 14.840448173378205
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778689463416525888
|
| 127 |
+
timestamp_max_ns: 1778689463417016233
|
| 128 |
+
hz_mean: 2039.3804362234753
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_002421_odom_run009/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-14_002421_odom_run009
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 12.536797406
|
| 4 |
+
start_time_ns: 1778689463413506659
|
| 5 |
+
end_time_ns: 1778689475950304065
|
| 6 |
+
num_messages: 14644
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 376
|
| 11 |
+
timestamp_min_ns: 1778689463435896548
|
| 12 |
+
timestamp_max_ns: 1778689475945547810
|
| 13 |
+
hz_mean: 29.97685484159902
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 376
|
| 18 |
+
timestamp_min_ns: 1778689463439737841
|
| 19 |
+
timestamp_max_ns: 1778689475947163938
|
| 20 |
+
hz_mean: 29.982187949121407
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/depth/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 188
|
| 25 |
+
timestamp_min_ns: 1778689463448422463
|
| 26 |
+
timestamp_max_ns: 1778689475916522332
|
| 27 |
+
hz_mean: 14.998275756913573
|
| 28 |
+
category: camera
|
| 29 |
+
- topic: /camera/depth/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 188
|
| 32 |
+
timestamp_min_ns: 1778689463450515401
|
| 33 |
+
timestamp_max_ns: 1778689475917328364
|
| 34 |
+
hz_mean: 14.999823977065628
|
| 35 |
+
category: camera
|
| 36 |
+
- topic: /camera/infra1/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 188
|
| 39 |
+
timestamp_min_ns: 1778689463450292804
|
| 40 |
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timestamp_max_ns: 1778689475916450715
|
| 41 |
+
hz_mean: 15.0006121641531
|
| 42 |
+
category: camera
|
| 43 |
+
- topic: /camera/infra1/image_rect_raw
|
| 44 |
+
msg_type: sensor_msgs/Image
|
| 45 |
+
count: 188
|
| 46 |
+
timestamp_min_ns: 1778689463450903185
|
| 47 |
+
timestamp_max_ns: 1778689475916784321
|
| 48 |
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hz_mean: 15.000945216777815
|
| 49 |
+
category: camera
|
| 50 |
+
- topic: /camera/infra2/camera_info
|
| 51 |
+
msg_type: sensor_msgs/CameraInfo
|
| 52 |
+
count: 188
|
| 53 |
+
timestamp_min_ns: 1778689463450569258
|
| 54 |
+
timestamp_max_ns: 1778689475916817186
|
| 55 |
+
hz_mean: 15.000503846870068
|
| 56 |
+
category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 188
|
| 60 |
+
timestamp_min_ns: 1778689463451190230
|
| 61 |
+
timestamp_max_ns: 1778689475917407886
|
| 62 |
+
hz_mean: 15.000540272934892
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 2484
|
| 67 |
+
timestamp_min_ns: 1778689463413506659
|
| 68 |
+
timestamp_max_ns: 1778689475945573506
|
| 69 |
+
hz_mean: 198.13172322763307
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 2484
|
| 74 |
+
timestamp_min_ns: 1778689463413507523
|
| 75 |
+
timestamp_max_ns: 1778689475945609571
|
| 76 |
+
hz_mean: 198.13116670209865
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 2507
|
| 81 |
+
timestamp_min_ns: 1778689463416439902
|
| 82 |
+
timestamp_max_ns: 1778689475946518741
|
| 83 |
+
hz_mean: 199.99874160408706
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 126
|
| 88 |
+
timestamp_min_ns: 1778689463436968537
|
| 89 |
+
timestamp_max_ns: 1778689475936548365
|
| 90 |
+
hz_mean: 10.000336148899228
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 2486
|
| 95 |
+
timestamp_min_ns: 1778689463416481855
|
| 96 |
+
timestamp_max_ns: 1778689475950268928
|
| 97 |
+
hz_mean: 198.26409891333887
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 2489
|
| 102 |
+
timestamp_min_ns: 1778689463415922996
|
| 103 |
+
timestamp_max_ns: 1778689475950304065
|
| 104 |
+
hz_mean: 198.49404500341188
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 186
|
| 109 |
+
timestamp_min_ns: 1778689463476416048
|
| 110 |
+
timestamp_max_ns: 1778689475942346850
|
| 111 |
+
hz_mean: 14.840448173378205
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778689463416525888
|
| 117 |
+
timestamp_max_ns: 1778689463417016233
|
| 118 |
+
hz_mean: 2039.3804362234753
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_010514_odom_run010/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 109.513960653
|
| 14 |
+
start_time_ns: 1778691915603144971
|
| 15 |
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end_time_ns: 1778692025117105624
|
| 16 |
+
num_messages: 128326
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 3283
|
| 21 |
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timestamp_min_ns: 1778691915625845207
|
| 22 |
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timestamp_max_ns: 1778692025105795271
|
| 23 |
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hz_mean: 29.9780918613993
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 3283
|
| 28 |
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timestamp_min_ns: 1778691915628250403
|
| 29 |
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timestamp_max_ns: 1778692025107437208
|
| 30 |
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hz_mean: 29.97830086047103
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 1643
|
| 35 |
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timestamp_min_ns: 1778691915608454258
|
| 36 |
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timestamp_max_ns: 1778692025085640527
|
| 37 |
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hz_mean: 14.998558658288749
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 1643
|
| 42 |
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timestamp_min_ns: 1778691915610266924
|
| 43 |
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timestamp_max_ns: 1778692025086331844
|
| 44 |
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hz_mean: 14.998712286561423
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 1643
|
| 49 |
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timestamp_min_ns: 1778691915610308397
|
| 50 |
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timestamp_max_ns: 1778692025086263842
|
| 51 |
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hz_mean: 14.99872728514281
|
| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 1643
|
| 56 |
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timestamp_min_ns: 1778691915611377967
|
| 57 |
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timestamp_max_ns: 1778692025086543434
|
| 58 |
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hz_mean: 14.99883551667215
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 1643
|
| 63 |
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timestamp_min_ns: 1778691915611421040
|
| 64 |
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timestamp_max_ns: 1778692025086846931
|
| 65 |
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hz_mean: 14.998799836913804
|
| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
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count: 1643
|
| 70 |
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timestamp_min_ns: 1778691915611679000
|
| 71 |
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timestamp_max_ns: 1778692025086806002
|
| 72 |
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hz_mean: 14.998840786638251
|
| 73 |
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category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
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count: 21773
|
| 77 |
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timestamp_min_ns: 1778691915603644986
|
| 78 |
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timestamp_max_ns: 1778692025115840243
|
| 79 |
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hz_mean: 198.80890844080068
|
| 80 |
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category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
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msg_type: nav_msgs/Odometry
|
| 83 |
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count: 21770
|
| 84 |
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timestamp_min_ns: 1778691915603693724
|
| 85 |
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timestamp_max_ns: 1778692025115836274
|
| 86 |
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hz_mean: 198.78160990285548
|
| 87 |
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category: odometry
|
| 88 |
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- topic: /livox/imu
|
| 89 |
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msg_type: sensor_msgs/Imu
|
| 90 |
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count: 21903
|
| 91 |
+
timestamp_min_ns: 1778691915603144971
|
| 92 |
+
timestamp_max_ns: 1778692025114569261
|
| 93 |
+
hz_mean: 199.99739882846154
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 1095
|
| 98 |
+
timestamp_min_ns: 1778691915659983822
|
| 99 |
+
timestamp_max_ns: 1778692025058859537
|
| 100 |
+
hz_mean: 10.000102769337678
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 21846
|
| 105 |
+
timestamp_min_ns: 1778691915603416883
|
| 106 |
+
timestamp_max_ns: 1778692025115675534
|
| 107 |
+
hz_mean: 199.47538539604878
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 21876
|
| 112 |
+
timestamp_min_ns: 1778691915609212234
|
| 113 |
+
timestamp_max_ns: 1778692025117105624
|
| 114 |
+
hz_mean: 199.7572898429765
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 1637
|
| 119 |
+
timestamp_min_ns: 1778691915667979626
|
| 120 |
+
timestamp_max_ns: 1778692025067152072
|
| 121 |
+
hz_mean: 14.95440928319214
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778691915605719324
|
| 127 |
+
timestamp_max_ns: 1778691915606630393
|
| 128 |
+
hz_mean: 1097.6117066874187
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_010514_odom_run010/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
| 1 |
+
session_id: 2026-05-14_010514_odom_run010
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 109.513960653
|
| 4 |
+
start_time_ns: 1778691915603144971
|
| 5 |
+
end_time_ns: 1778692025117105624
|
| 6 |
+
num_messages: 128326
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 3283
|
| 11 |
+
timestamp_min_ns: 1778691915625845207
|
| 12 |
+
timestamp_max_ns: 1778692025105795271
|
| 13 |
+
hz_mean: 29.9780918613993
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 3283
|
| 18 |
+
timestamp_min_ns: 1778691915628250403
|
| 19 |
+
timestamp_max_ns: 1778692025107437208
|
| 20 |
+
hz_mean: 29.97830086047103
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/depth/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 1643
|
| 25 |
+
timestamp_min_ns: 1778691915608454258
|
| 26 |
+
timestamp_max_ns: 1778692025085640527
|
| 27 |
+
hz_mean: 14.998558658288749
|
| 28 |
+
category: camera
|
| 29 |
+
- topic: /camera/depth/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 1643
|
| 32 |
+
timestamp_min_ns: 1778691915610266924
|
| 33 |
+
timestamp_max_ns: 1778692025086331844
|
| 34 |
+
hz_mean: 14.998712286561423
|
| 35 |
+
category: camera
|
| 36 |
+
- topic: /camera/infra1/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 1643
|
| 39 |
+
timestamp_min_ns: 1778691915610308397
|
| 40 |
+
timestamp_max_ns: 1778692025086263842
|
| 41 |
+
hz_mean: 14.99872728514281
|
| 42 |
+
category: camera
|
| 43 |
+
- topic: /camera/infra1/image_rect_raw
|
| 44 |
+
msg_type: sensor_msgs/Image
|
| 45 |
+
count: 1643
|
| 46 |
+
timestamp_min_ns: 1778691915611377967
|
| 47 |
+
timestamp_max_ns: 1778692025086543434
|
| 48 |
+
hz_mean: 14.99883551667215
|
| 49 |
+
category: camera
|
| 50 |
+
- topic: /camera/infra2/camera_info
|
| 51 |
+
msg_type: sensor_msgs/CameraInfo
|
| 52 |
+
count: 1643
|
| 53 |
+
timestamp_min_ns: 1778691915611421040
|
| 54 |
+
timestamp_max_ns: 1778692025086846931
|
| 55 |
+
hz_mean: 14.998799836913804
|
| 56 |
+
category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 1643
|
| 60 |
+
timestamp_min_ns: 1778691915611679000
|
| 61 |
+
timestamp_max_ns: 1778692025086806002
|
| 62 |
+
hz_mean: 14.998840786638251
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 21773
|
| 67 |
+
timestamp_min_ns: 1778691915603644986
|
| 68 |
+
timestamp_max_ns: 1778692025115840243
|
| 69 |
+
hz_mean: 198.80890844080068
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 21770
|
| 74 |
+
timestamp_min_ns: 1778691915603693724
|
| 75 |
+
timestamp_max_ns: 1778692025115836274
|
| 76 |
+
hz_mean: 198.78160990285548
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 21903
|
| 81 |
+
timestamp_min_ns: 1778691915603144971
|
| 82 |
+
timestamp_max_ns: 1778692025114569261
|
| 83 |
+
hz_mean: 199.99739882846154
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 1095
|
| 88 |
+
timestamp_min_ns: 1778691915659983822
|
| 89 |
+
timestamp_max_ns: 1778692025058859537
|
| 90 |
+
hz_mean: 10.000102769337678
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 21846
|
| 95 |
+
timestamp_min_ns: 1778691915603416883
|
| 96 |
+
timestamp_max_ns: 1778692025115675534
|
| 97 |
+
hz_mean: 199.47538539604878
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 21876
|
| 102 |
+
timestamp_min_ns: 1778691915609212234
|
| 103 |
+
timestamp_max_ns: 1778692025117105624
|
| 104 |
+
hz_mean: 199.7572898429765
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 1637
|
| 109 |
+
timestamp_min_ns: 1778691915667979626
|
| 110 |
+
timestamp_max_ns: 1778692025067152072
|
| 111 |
+
hz_mean: 14.95440928319214
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778691915605719324
|
| 117 |
+
timestamp_max_ns: 1778691915606630393
|
| 118 |
+
hz_mean: 1097.6117066874187
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_010849_odom_run011/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 141.32130793
|
| 14 |
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start_time_ns: 1778692131345846374
|
| 15 |
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end_time_ns: 1778692272667154304
|
| 16 |
+
num_messages: 163839
|
| 17 |
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topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 4237
|
| 21 |
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timestamp_min_ns: 1778692131352878167
|
| 22 |
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timestamp_max_ns: 1778692272655970230
|
| 23 |
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hz_mean: 29.978112567496957
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 4237
|
| 28 |
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timestamp_min_ns: 1778692131355089860
|
| 29 |
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timestamp_max_ns: 1778692272657781687
|
| 30 |
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hz_mean: 29.97819747967879
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 2119
|
| 35 |
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timestamp_min_ns: 1778692131392991439
|
| 36 |
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timestamp_max_ns: 1778692272607953811
|
| 37 |
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hz_mean: 14.998410681302957
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 2119
|
| 42 |
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timestamp_min_ns: 1778692131394403948
|
| 43 |
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timestamp_max_ns: 1778692272609649298
|
| 44 |
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hz_mean: 14.998380626330865
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 2119
|
| 49 |
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timestamp_min_ns: 1778692131394065445
|
| 50 |
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timestamp_max_ns: 1778692272607918163
|
| 51 |
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hz_mean: 14.99852853834096
|
| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 2119
|
| 56 |
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timestamp_min_ns: 1778692131395013113
|
| 57 |
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timestamp_max_ns: 1778692272608235864
|
| 58 |
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hz_mean: 14.99859544835012
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 2119
|
| 63 |
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timestamp_min_ns: 1778692131394926871
|
| 64 |
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timestamp_max_ns: 1778692272609087400
|
| 65 |
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hz_mean: 14.998495845358537
|
| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
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count: 2119
|
| 70 |
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timestamp_min_ns: 1778692131395669286
|
| 71 |
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timestamp_max_ns: 1778692272611030603
|
| 72 |
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hz_mean: 14.998368309560298
|
| 73 |
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category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
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count: 28152
|
| 77 |
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timestamp_min_ns: 1778692131350264961
|
| 78 |
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timestamp_max_ns: 1778692272662726320
|
| 79 |
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hz_mean: 199.21102307094662
|
| 80 |
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category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
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msg_type: nav_msgs/Odometry
|
| 83 |
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count: 28149
|
| 84 |
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timestamp_min_ns: 1778692131350293090
|
| 85 |
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timestamp_max_ns: 1778692272662730064
|
| 86 |
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hz_mean: 199.18982789306037
|
| 87 |
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category: odometry
|
| 88 |
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- topic: /livox/imu
|
| 89 |
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msg_type: sensor_msgs/Imu
|
| 90 |
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count: 26517
|
| 91 |
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timestamp_min_ns: 1778692131345846374
|
| 92 |
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timestamp_max_ns: 1778692263926842138
|
| 93 |
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hz_mean: 199.9984978782302
|
| 94 |
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category: imu
|
| 95 |
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- topic: /livox/lidar
|
| 96 |
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msg_type: livox_ros_driver2/CustomMsg
|
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count: 1326
|
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timestamp_min_ns: 1778692131372631501
|
| 99 |
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timestamp_max_ns: 1778692263873189426
|
| 100 |
+
hz_mean: 9.999957892630134
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 28176
|
| 105 |
+
timestamp_min_ns: 1778692131349908218
|
| 106 |
+
timestamp_max_ns: 1778692272662639918
|
| 107 |
+
hz_mean: 199.38047804364962
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 28221
|
| 112 |
+
timestamp_min_ns: 1778692131349863545
|
| 113 |
+
timestamp_max_ns: 1778692272667154304
|
| 114 |
+
hz_mean: 199.69247817045888
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 2108
|
| 119 |
+
timestamp_min_ns: 1778692131408801236
|
| 120 |
+
timestamp_max_ns: 1778692272611232398
|
| 121 |
+
hz_mean: 14.92183939512105
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778692131348308761
|
| 127 |
+
timestamp_max_ns: 1778692131348766274
|
| 128 |
+
hz_mean: 2185.730241545049
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_010849_odom_run011/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
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|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
| 1 |
+
session_id: 2026-05-14_010849_odom_run011
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 141.32130793
|
| 4 |
+
start_time_ns: 1778692131345846374
|
| 5 |
+
end_time_ns: 1778692272667154304
|
| 6 |
+
num_messages: 163839
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 4237
|
| 11 |
+
timestamp_min_ns: 1778692131352878167
|
| 12 |
+
timestamp_max_ns: 1778692272655970230
|
| 13 |
+
hz_mean: 29.978112567496957
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/color/image_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 4237
|
| 18 |
+
timestamp_min_ns: 1778692131355089860
|
| 19 |
+
timestamp_max_ns: 1778692272657781687
|
| 20 |
+
hz_mean: 29.97819747967879
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/depth/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 2119
|
| 25 |
+
timestamp_min_ns: 1778692131392991439
|
| 26 |
+
timestamp_max_ns: 1778692272607953811
|
| 27 |
+
hz_mean: 14.998410681302957
|
| 28 |
+
category: camera
|
| 29 |
+
- topic: /camera/depth/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 2119
|
| 32 |
+
timestamp_min_ns: 1778692131394403948
|
| 33 |
+
timestamp_max_ns: 1778692272609649298
|
| 34 |
+
hz_mean: 14.998380626330865
|
| 35 |
+
category: camera
|
| 36 |
+
- topic: /camera/infra1/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 2119
|
| 39 |
+
timestamp_min_ns: 1778692131394065445
|
| 40 |
+
timestamp_max_ns: 1778692272607918163
|
| 41 |
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hz_mean: 14.99852853834096
|
| 42 |
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category: camera
|
| 43 |
+
- topic: /camera/infra1/image_rect_raw
|
| 44 |
+
msg_type: sensor_msgs/Image
|
| 45 |
+
count: 2119
|
| 46 |
+
timestamp_min_ns: 1778692131395013113
|
| 47 |
+
timestamp_max_ns: 1778692272608235864
|
| 48 |
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hz_mean: 14.99859544835012
|
| 49 |
+
category: camera
|
| 50 |
+
- topic: /camera/infra2/camera_info
|
| 51 |
+
msg_type: sensor_msgs/CameraInfo
|
| 52 |
+
count: 2119
|
| 53 |
+
timestamp_min_ns: 1778692131394926871
|
| 54 |
+
timestamp_max_ns: 1778692272609087400
|
| 55 |
+
hz_mean: 14.998495845358537
|
| 56 |
+
category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 2119
|
| 60 |
+
timestamp_min_ns: 1778692131395669286
|
| 61 |
+
timestamp_max_ns: 1778692272611030603
|
| 62 |
+
hz_mean: 14.998368309560298
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 28152
|
| 67 |
+
timestamp_min_ns: 1778692131350264961
|
| 68 |
+
timestamp_max_ns: 1778692272662726320
|
| 69 |
+
hz_mean: 199.21102307094662
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 28149
|
| 74 |
+
timestamp_min_ns: 1778692131350293090
|
| 75 |
+
timestamp_max_ns: 1778692272662730064
|
| 76 |
+
hz_mean: 199.18982789306037
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 26517
|
| 81 |
+
timestamp_min_ns: 1778692131345846374
|
| 82 |
+
timestamp_max_ns: 1778692263926842138
|
| 83 |
+
hz_mean: 199.9984978782302
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 1326
|
| 88 |
+
timestamp_min_ns: 1778692131372631501
|
| 89 |
+
timestamp_max_ns: 1778692263873189426
|
| 90 |
+
hz_mean: 9.999957892630134
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 28176
|
| 95 |
+
timestamp_min_ns: 1778692131349908218
|
| 96 |
+
timestamp_max_ns: 1778692272662639918
|
| 97 |
+
hz_mean: 199.38047804364962
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 28221
|
| 102 |
+
timestamp_min_ns: 1778692131349863545
|
| 103 |
+
timestamp_max_ns: 1778692272667154304
|
| 104 |
+
hz_mean: 199.69247817045888
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 2108
|
| 109 |
+
timestamp_min_ns: 1778692131408801236
|
| 110 |
+
timestamp_max_ns: 1778692272611232398
|
| 111 |
+
hz_mean: 14.92183939512105
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778692131348308761
|
| 117 |
+
timestamp_max_ns: 1778692131348766274
|
| 118 |
+
hz_mean: 2185.730241545049
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_013615_odom_run012/metadata.yaml
CHANGED
|
@@ -10,11 +10,109 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 148.888768913
|
| 14 |
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start_time_ns: 1778693776542031427
|
| 15 |
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end_time_ns: 1778693925430800340
|
| 16 |
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num_messages: 165618
|
| 17 |
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topics:
|
| 18 |
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- topic: /camera/depth/camera_info
|
| 19 |
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msg_type: sensor_msgs/CameraInfo
|
| 20 |
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count: 2233
|
| 21 |
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timestamp_min_ns: 1778693776603625354
|
| 22 |
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timestamp_max_ns: 1778693925417774537
|
| 23 |
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hz_mean: 14.998573806683266
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/depth/image_rect_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 2233
|
| 28 |
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timestamp_min_ns: 1778693776607587131
|
| 29 |
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timestamp_max_ns: 1778693925418540987
|
| 30 |
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hz_mean: 14.99889586192587
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/infra1/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 2233
|
| 35 |
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timestamp_min_ns: 1778693776603975898
|
| 36 |
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timestamp_max_ns: 1778693925418786944
|
| 37 |
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hz_mean: 14.998507099606295
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/infra1/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 2233
|
| 42 |
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timestamp_min_ns: 1778693776607765795
|
| 43 |
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timestamp_max_ns: 1778693925418983909
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| 44 |
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hz_mean: 14.998869226983471
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra2/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 2233
|
| 49 |
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timestamp_min_ns: 1778693776606405767
|
| 50 |
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timestamp_max_ns: 1778693925419160617
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| 51 |
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hz_mean: 14.99871433903503
|
| 52 |
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category: camera
|
| 53 |
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|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 2233
|
| 56 |
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timestamp_min_ns: 1778693776607939755
|
| 57 |
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timestamp_max_ns: 1778693925419219754
|
| 58 |
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hz_mean: 14.998862989519337
|
| 59 |
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category: camera
|
| 60 |
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- topic: /ekf_quat/ekf_odom
|
| 61 |
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msg_type: nav_msgs/Odometry
|
| 62 |
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count: 29655
|
| 63 |
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timestamp_min_ns: 1778693776542031427
|
| 64 |
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timestamp_max_ns: 1778693925415885374
|
| 65 |
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hz_mean: 199.18877098833624
|
| 66 |
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category: odometry
|
| 67 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 68 |
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msg_type: nav_msgs/Odometry
|
| 69 |
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count: 29652
|
| 70 |
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timestamp_min_ns: 1778693776542032707
|
| 71 |
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timestamp_max_ns: 1778693925416405002
|
| 72 |
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hz_mean: 199.16792623814032
|
| 73 |
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category: odometry
|
| 74 |
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- topic: /livox/imu
|
| 75 |
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msg_type: sensor_msgs/Imu
|
| 76 |
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count: 29777
|
| 77 |
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timestamp_min_ns: 1778693776544110368
|
| 78 |
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timestamp_max_ns: 1778693925427233026
|
| 79 |
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hz_mean: 199.99580522231904
|
| 80 |
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category: imu
|
| 81 |
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- topic: /livox/lidar
|
| 82 |
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msg_type: livox_ros_driver2/CustomMsg
|
| 83 |
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count: 1489
|
| 84 |
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timestamp_min_ns: 1778693776584790238
|
| 85 |
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timestamp_max_ns: 1778693925383550263
|
| 86 |
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hz_mean: 10.000083332347648
|
| 87 |
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category: lidar
|
| 88 |
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- topic: /mavros/imu/data
|
| 89 |
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msg_type: sensor_msgs/Imu
|
| 90 |
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count: 29690
|
| 91 |
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timestamp_min_ns: 1778693776556355044
|
| 92 |
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timestamp_max_ns: 1778693925415663001
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| 93 |
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hz_mean: 199.44335633063716
|
| 94 |
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category: imu
|
| 95 |
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|
| 96 |
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msg_type: sensor_msgs/Imu
|
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count: 29729
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timestamp_min_ns: 1778693776556126970
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timestamp_max_ns: 1778693925430800340
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hz_mean: 199.684737014446
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category: imu
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|
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msg_type: nlink_parser/TofsenseMCascade
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count: 2226
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timestamp_min_ns: 1778693776587556922
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timestamp_max_ns: 1778693925387795673
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hz_mean: 14.952932997125632
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category: tof
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msg_type: tf2_msgs/TFMessage
|
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count: 2
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timestamp_min_ns: 1778693776545572833
|
| 113 |
+
timestamp_max_ns: 1778693776546086104
|
| 114 |
+
hz_mean: 1948.288525944384
|
| 115 |
+
category: tf
|
| 116 |
calibration_id: robot_v1_template
|
| 117 |
quality:
|
| 118 |
status: unchecked
|
raw/sessions/2026-05-14_013615_odom_run012/topic_summary.yaml
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-14_013615_odom_run012
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 148.888768913
|
| 4 |
+
start_time_ns: 1778693776542031427
|
| 5 |
+
end_time_ns: 1778693925430800340
|
| 6 |
+
num_messages: 165618
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/depth/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 2233
|
| 11 |
+
timestamp_min_ns: 1778693776603625354
|
| 12 |
+
timestamp_max_ns: 1778693925417774537
|
| 13 |
+
hz_mean: 14.998573806683266
|
| 14 |
+
category: camera
|
| 15 |
+
- topic: /camera/depth/image_rect_raw
|
| 16 |
+
msg_type: sensor_msgs/Image
|
| 17 |
+
count: 2233
|
| 18 |
+
timestamp_min_ns: 1778693776607587131
|
| 19 |
+
timestamp_max_ns: 1778693925418540987
|
| 20 |
+
hz_mean: 14.99889586192587
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/infra1/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 2233
|
| 25 |
+
timestamp_min_ns: 1778693776603975898
|
| 26 |
+
timestamp_max_ns: 1778693925418786944
|
| 27 |
+
hz_mean: 14.998507099606295
|
| 28 |
+
category: camera
|
| 29 |
+
- topic: /camera/infra1/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 2233
|
| 32 |
+
timestamp_min_ns: 1778693776607765795
|
| 33 |
+
timestamp_max_ns: 1778693925418983909
|
| 34 |
+
hz_mean: 14.998869226983471
|
| 35 |
+
category: camera
|
| 36 |
+
- topic: /camera/infra2/camera_info
|
| 37 |
+
msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 2233
|
| 39 |
+
timestamp_min_ns: 1778693776606405767
|
| 40 |
+
timestamp_max_ns: 1778693925419160617
|
| 41 |
+
hz_mean: 14.99871433903503
|
| 42 |
+
category: camera
|
| 43 |
+
- topic: /camera/infra2/image_rect_raw
|
| 44 |
+
msg_type: sensor_msgs/Image
|
| 45 |
+
count: 2233
|
| 46 |
+
timestamp_min_ns: 1778693776607939755
|
| 47 |
+
timestamp_max_ns: 1778693925419219754
|
| 48 |
+
hz_mean: 14.998862989519337
|
| 49 |
+
category: camera
|
| 50 |
+
- topic: /ekf_quat/ekf_odom
|
| 51 |
+
msg_type: nav_msgs/Odometry
|
| 52 |
+
count: 29655
|
| 53 |
+
timestamp_min_ns: 1778693776542031427
|
| 54 |
+
timestamp_max_ns: 1778693925415885374
|
| 55 |
+
hz_mean: 199.18877098833624
|
| 56 |
+
category: odometry
|
| 57 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 58 |
+
msg_type: nav_msgs/Odometry
|
| 59 |
+
count: 29652
|
| 60 |
+
timestamp_min_ns: 1778693776542032707
|
| 61 |
+
timestamp_max_ns: 1778693925416405002
|
| 62 |
+
hz_mean: 199.16792623814032
|
| 63 |
+
category: odometry
|
| 64 |
+
- topic: /livox/imu
|
| 65 |
+
msg_type: sensor_msgs/Imu
|
| 66 |
+
count: 29777
|
| 67 |
+
timestamp_min_ns: 1778693776544110368
|
| 68 |
+
timestamp_max_ns: 1778693925427233026
|
| 69 |
+
hz_mean: 199.99580522231904
|
| 70 |
+
category: imu
|
| 71 |
+
- topic: /livox/lidar
|
| 72 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 73 |
+
count: 1489
|
| 74 |
+
timestamp_min_ns: 1778693776584790238
|
| 75 |
+
timestamp_max_ns: 1778693925383550263
|
| 76 |
+
hz_mean: 10.000083332347648
|
| 77 |
+
category: lidar
|
| 78 |
+
- topic: /mavros/imu/data
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 29690
|
| 81 |
+
timestamp_min_ns: 1778693776556355044
|
| 82 |
+
timestamp_max_ns: 1778693925415663001
|
| 83 |
+
hz_mean: 199.44335633063716
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /mavros/imu/data_raw
|
| 86 |
+
msg_type: sensor_msgs/Imu
|
| 87 |
+
count: 29729
|
| 88 |
+
timestamp_min_ns: 1778693776556126970
|
| 89 |
+
timestamp_max_ns: 1778693925430800340
|
| 90 |
+
hz_mean: 199.684737014446
|
| 91 |
+
category: imu
|
| 92 |
+
- topic: /nlink_tofsensem_cascade
|
| 93 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 94 |
+
count: 2226
|
| 95 |
+
timestamp_min_ns: 1778693776587556922
|
| 96 |
+
timestamp_max_ns: 1778693925387795673
|
| 97 |
+
hz_mean: 14.952932997125632
|
| 98 |
+
category: tof
|
| 99 |
+
- topic: /tf_static
|
| 100 |
+
msg_type: tf2_msgs/TFMessage
|
| 101 |
+
count: 2
|
| 102 |
+
timestamp_min_ns: 1778693776545572833
|
| 103 |
+
timestamp_max_ns: 1778693776546086104
|
| 104 |
+
hz_mean: 1948.288525944384
|
| 105 |
+
category: tf
|
raw/sessions/2026-05-14_014222_odom_run013/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 152.020596886
|
| 14 |
+
start_time_ns: 1778694144119267479
|
| 15 |
+
end_time_ns: 1778694296139864365
|
| 16 |
+
num_messages: 178228
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 4557
|
| 21 |
+
timestamp_min_ns: 1778694144136861231
|
| 22 |
+
timestamp_max_ns: 1778694296113387340
|
| 23 |
+
hz_mean: 29.97831386626356
|
| 24 |
+
category: camera
|
| 25 |
+
- topic: /camera/color/image_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
+
count: 4557
|
| 28 |
+
timestamp_min_ns: 1778694144138889886
|
| 29 |
+
timestamp_max_ns: 1778694296115810884
|
| 30 |
+
hz_mean: 29.97823597215762
|
| 31 |
+
category: camera
|
| 32 |
+
- topic: /camera/depth/camera_info
|
| 33 |
+
msg_type: sensor_msgs/CameraInfo
|
| 34 |
+
count: 2280
|
| 35 |
+
timestamp_min_ns: 1778694144131095785
|
| 36 |
+
timestamp_max_ns: 1778694296077480786
|
| 37 |
+
hz_mean: 14.99871155200567
|
| 38 |
+
category: camera
|
| 39 |
+
- topic: /camera/depth/image_rect_raw
|
| 40 |
+
msg_type: sensor_msgs/Image
|
| 41 |
+
count: 2280
|
| 42 |
+
timestamp_min_ns: 1778694144133298364
|
| 43 |
+
timestamp_max_ns: 1778694296078243428
|
| 44 |
+
hz_mean: 14.998853690328911
|
| 45 |
+
category: camera
|
| 46 |
+
- topic: /camera/infra1/camera_info
|
| 47 |
+
msg_type: sensor_msgs/CameraInfo
|
| 48 |
+
count: 2280
|
| 49 |
+
timestamp_min_ns: 1778694144132854802
|
| 50 |
+
timestamp_max_ns: 1778694296079199322
|
| 51 |
+
hz_mean: 14.998715547908596
|
| 52 |
+
category: camera
|
| 53 |
+
- topic: /camera/infra1/image_rect_raw
|
| 54 |
+
msg_type: sensor_msgs/Image
|
| 55 |
+
count: 2280
|
| 56 |
+
timestamp_min_ns: 1778694144136760684
|
| 57 |
+
timestamp_max_ns: 1778694296079190042
|
| 58 |
+
hz_mean: 14.99910202587535
|
| 59 |
+
category: camera
|
| 60 |
+
- topic: /camera/infra2/camera_info
|
| 61 |
+
msg_type: sensor_msgs/CameraInfo
|
| 62 |
+
count: 2280
|
| 63 |
+
timestamp_min_ns: 1778694144136171103
|
| 64 |
+
timestamp_max_ns: 1778694296079439807
|
| 65 |
+
hz_mean: 14.999019169712017
|
| 66 |
+
category: camera
|
| 67 |
+
- topic: /camera/infra2/image_rect_raw
|
| 68 |
+
msg_type: sensor_msgs/Image
|
| 69 |
+
count: 2280
|
| 70 |
+
timestamp_min_ns: 1778694144137370330
|
| 71 |
+
timestamp_max_ns: 1778694296079421087
|
| 72 |
+
hz_mean: 14.9991393998281
|
| 73 |
+
category: camera
|
| 74 |
+
- topic: /ekf_quat/ekf_odom
|
| 75 |
+
msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 30274
|
| 77 |
+
timestamp_min_ns: 1778694144121839251
|
| 78 |
+
timestamp_max_ns: 1778694296134592948
|
| 79 |
+
hz_mean: 199.14776401157613
|
| 80 |
+
category: odometry
|
| 81 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 30270
|
| 84 |
+
timestamp_min_ns: 1778694144121874836
|
| 85 |
+
timestamp_max_ns: 1778694296134630933
|
| 86 |
+
hz_mean: 199.12144728620814
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 30404
|
| 91 |
+
timestamp_min_ns: 1778694144119267479
|
| 92 |
+
timestamp_max_ns: 1778694296135872305
|
| 93 |
+
hz_mean: 199.99788861749434
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 1520
|
| 98 |
+
timestamp_min_ns: 1778694144219015389
|
| 99 |
+
timestamp_max_ns: 1778694296120463247
|
| 100 |
+
hz_mean: 9.999904684384486
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 30326
|
| 105 |
+
timestamp_min_ns: 1778694144121563308
|
| 106 |
+
timestamp_max_ns: 1778694296134584116
|
| 107 |
+
hz_mean: 199.4894900371856
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 30368
|
| 112 |
+
timestamp_min_ns: 1778694144121622734
|
| 113 |
+
timestamp_max_ns: 1778694296139864365
|
| 114 |
+
hz_mean: 199.75892152279357
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 2270
|
| 119 |
+
timestamp_min_ns: 1778694144160357327
|
| 120 |
+
timestamp_max_ns: 1778694296093863531
|
| 121 |
+
hz_mean: 14.934164666439214
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778694144122444705
|
| 127 |
+
timestamp_max_ns: 1778694144122821930
|
| 128 |
+
hz_mean: 2650.937769235867
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_014222_odom_run013/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
| 1 |
+
session_id: 2026-05-14_014222_odom_run013
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 152.020596886
|
| 4 |
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start_time_ns: 1778694144119267479
|
| 5 |
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end_time_ns: 1778694296139864365
|
| 6 |
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num_messages: 178228
|
| 7 |
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topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 4557
|
| 11 |
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timestamp_min_ns: 1778694144136861231
|
| 12 |
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timestamp_max_ns: 1778694296113387340
|
| 13 |
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hz_mean: 29.97831386626356
|
| 14 |
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category: camera
|
| 15 |
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- topic: /camera/color/image_raw
|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
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count: 4557
|
| 18 |
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timestamp_min_ns: 1778694144138889886
|
| 19 |
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timestamp_max_ns: 1778694296115810884
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| 20 |
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hz_mean: 29.97823597215762
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| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 2280
|
| 25 |
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timestamp_min_ns: 1778694144131095785
|
| 26 |
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timestamp_max_ns: 1778694296077480786
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| 27 |
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hz_mean: 14.99871155200567
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
+
msg_type: sensor_msgs/Image
|
| 31 |
+
count: 2280
|
| 32 |
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timestamp_min_ns: 1778694144133298364
|
| 33 |
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timestamp_max_ns: 1778694296078243428
|
| 34 |
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hz_mean: 14.998853690328911
|
| 35 |
+
category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 2280
|
| 39 |
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timestamp_min_ns: 1778694144132854802
|
| 40 |
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timestamp_max_ns: 1778694296079199322
|
| 41 |
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hz_mean: 14.998715547908596
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 2280
|
| 46 |
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timestamp_min_ns: 1778694144136760684
|
| 47 |
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timestamp_max_ns: 1778694296079190042
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| 48 |
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hz_mean: 14.99910202587535
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| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 2280
|
| 53 |
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timestamp_min_ns: 1778694144136171103
|
| 54 |
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timestamp_max_ns: 1778694296079439807
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| 55 |
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hz_mean: 14.999019169712017
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| 56 |
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category: camera
|
| 57 |
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- topic: /camera/infra2/image_rect_raw
|
| 58 |
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msg_type: sensor_msgs/Image
|
| 59 |
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count: 2280
|
| 60 |
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timestamp_min_ns: 1778694144137370330
|
| 61 |
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timestamp_max_ns: 1778694296079421087
|
| 62 |
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hz_mean: 14.9991393998281
|
| 63 |
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category: camera
|
| 64 |
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- topic: /ekf_quat/ekf_odom
|
| 65 |
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msg_type: nav_msgs/Odometry
|
| 66 |
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count: 30274
|
| 67 |
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timestamp_min_ns: 1778694144121839251
|
| 68 |
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timestamp_max_ns: 1778694296134592948
|
| 69 |
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hz_mean: 199.14776401157613
|
| 70 |
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category: odometry
|
| 71 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
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msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 30270
|
| 74 |
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timestamp_min_ns: 1778694144121874836
|
| 75 |
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timestamp_max_ns: 1778694296134630933
|
| 76 |
+
hz_mean: 199.12144728620814
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 30404
|
| 81 |
+
timestamp_min_ns: 1778694144119267479
|
| 82 |
+
timestamp_max_ns: 1778694296135872305
|
| 83 |
+
hz_mean: 199.99788861749434
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 1520
|
| 88 |
+
timestamp_min_ns: 1778694144219015389
|
| 89 |
+
timestamp_max_ns: 1778694296120463247
|
| 90 |
+
hz_mean: 9.999904684384486
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 30326
|
| 95 |
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timestamp_min_ns: 1778694144121563308
|
| 96 |
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timestamp_max_ns: 1778694296134584116
|
| 97 |
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hz_mean: 199.4894900371856
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 30368
|
| 102 |
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timestamp_min_ns: 1778694144121622734
|
| 103 |
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timestamp_max_ns: 1778694296139864365
|
| 104 |
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hz_mean: 199.75892152279357
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 2270
|
| 109 |
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timestamp_min_ns: 1778694144160357327
|
| 110 |
+
timestamp_max_ns: 1778694296093863531
|
| 111 |
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hz_mean: 14.934164666439214
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778694144122444705
|
| 117 |
+
timestamp_max_ns: 1778694144122821930
|
| 118 |
+
hz_mean: 2650.937769235867
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_014752_odom_run014/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 203.706172285
|
| 14 |
+
start_time_ns: 1778694474119178625
|
| 15 |
+
end_time_ns: 1778694677825350910
|
| 16 |
+
num_messages: 236044
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 6107
|
| 21 |
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timestamp_min_ns: 1778694474121359831
|
| 22 |
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timestamp_max_ns: 1778694677802244319
|
| 23 |
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hz_mean: 29.978267304508584
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
+
count: 6107
|
| 28 |
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timestamp_min_ns: 1778694474124011576
|
| 29 |
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timestamp_max_ns: 1778694677803585472
|
| 30 |
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hz_mean: 29.97846020199237
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 3055
|
| 35 |
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timestamp_min_ns: 1778694474146878858
|
| 36 |
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timestamp_max_ns: 1778694677764404338
|
| 37 |
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hz_mean: 14.998708941190694
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 3055
|
| 42 |
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timestamp_min_ns: 1778694474148477521
|
| 43 |
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timestamp_max_ns: 1778694677764807516
|
| 44 |
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hz_mean: 14.998797002553744
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 3055
|
| 49 |
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timestamp_min_ns: 1778694474146910443
|
| 50 |
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timestamp_max_ns: 1778694677765083875
|
| 51 |
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hz_mean: 14.99866121242812
|
| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 3055
|
| 56 |
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timestamp_min_ns: 1778694474148393167
|
| 57 |
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timestamp_max_ns: 1778694677765069795
|
| 58 |
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hz_mean: 14.998771468898607
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
+
count: 3055
|
| 63 |
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timestamp_min_ns: 1778694474147680350
|
| 64 |
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timestamp_max_ns: 1778694677765565967
|
| 65 |
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hz_mean: 14.998682413118145
|
| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
+
count: 3055
|
| 70 |
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timestamp_min_ns: 1778694474148692247
|
| 71 |
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timestamp_max_ns: 1778694677765423755
|
| 72 |
+
hz_mean: 14.998767426339962
|
| 73 |
+
category: camera
|
| 74 |
+
- topic: /ekf_quat/ekf_odom
|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 40567
|
| 77 |
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timestamp_min_ns: 1778694474119178625
|
| 78 |
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timestamp_max_ns: 1778694677822377748
|
| 79 |
+
hz_mean: 199.14267510106924
|
| 80 |
+
category: odometry
|
| 81 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 40562
|
| 84 |
+
timestamp_min_ns: 1778694474119182369
|
| 85 |
+
timestamp_max_ns: 1778694677822405236
|
| 86 |
+
hz_mean: 199.11810637617015
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 38105
|
| 91 |
+
timestamp_min_ns: 1778694474121358807
|
| 92 |
+
timestamp_max_ns: 1778694664644526063
|
| 93 |
+
hz_mean: 199.9966752011888
|
| 94 |
+
category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
+
count: 1905
|
| 98 |
+
timestamp_min_ns: 1778694474202590787
|
| 99 |
+
timestamp_max_ns: 1778694664602058223
|
| 100 |
+
hz_mean: 10.000027970876555
|
| 101 |
+
category: lidar
|
| 102 |
+
- topic: /mavros/imu/data
|
| 103 |
+
msg_type: sensor_msgs/Imu
|
| 104 |
+
count: 40640
|
| 105 |
+
timestamp_min_ns: 1778694474131968284
|
| 106 |
+
timestamp_max_ns: 1778694677825350910
|
| 107 |
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hz_mean: 199.51065408254811
|
| 108 |
+
category: imu
|
| 109 |
+
- topic: /mavros/imu/data_raw
|
| 110 |
+
msg_type: sensor_msgs/Imu
|
| 111 |
+
count: 40676
|
| 112 |
+
timestamp_min_ns: 1778694474130991844
|
| 113 |
+
timestamp_max_ns: 1778694677821118772
|
| 114 |
+
hz_mean: 199.69058202991704
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 3043
|
| 119 |
+
timestamp_min_ns: 1778694474127627921
|
| 120 |
+
timestamp_max_ns: 1778694677794348443
|
| 121 |
+
hz_mean: 14.936166263213359
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778694474130990276
|
| 127 |
+
timestamp_max_ns: 1778694474131557649
|
| 128 |
+
hz_mean: 1762.5089667643683
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_014752_odom_run014/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
| 1 |
+
session_id: 2026-05-14_014752_odom_run014
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 203.706172285
|
| 4 |
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| 5 |
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end_time_ns: 1778694677825350910
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| 6 |
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num_messages: 236044
|
| 7 |
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topics:
|
| 8 |
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- topic: /camera/color/camera_info
|
| 9 |
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msg_type: sensor_msgs/CameraInfo
|
| 10 |
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count: 6107
|
| 11 |
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timestamp_min_ns: 1778694474121359831
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| 12 |
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timestamp_max_ns: 1778694677802244319
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| 13 |
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hz_mean: 29.978267304508584
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| 14 |
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category: camera
|
| 15 |
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|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
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count: 6107
|
| 18 |
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timestamp_min_ns: 1778694474124011576
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| 19 |
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timestamp_max_ns: 1778694677803585472
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| 20 |
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hz_mean: 29.97846020199237
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| 21 |
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category: camera
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| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 3055
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| 25 |
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timestamp_min_ns: 1778694474146878858
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timestamp_max_ns: 1778694677764404338
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hz_mean: 14.998708941190694
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| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 3055
|
| 32 |
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timestamp_min_ns: 1778694474148477521
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| 33 |
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timestamp_max_ns: 1778694677764807516
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| 34 |
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hz_mean: 14.998797002553744
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| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 3055
|
| 39 |
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timestamp_min_ns: 1778694474146910443
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| 40 |
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timestamp_max_ns: 1778694677765083875
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| 41 |
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hz_mean: 14.99866121242812
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| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
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| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 3055
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| 46 |
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timestamp_min_ns: 1778694474148393167
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| 47 |
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timestamp_max_ns: 1778694677765069795
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hz_mean: 14.998771468898607
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| 49 |
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category: camera
|
| 50 |
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| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
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count: 3055
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| 53 |
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timestamp_min_ns: 1778694474147680350
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| 54 |
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timestamp_max_ns: 1778694677765565967
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hz_mean: 14.998682413118145
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| 56 |
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category: camera
|
| 57 |
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- topic: /camera/infra2/image_rect_raw
|
| 58 |
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msg_type: sensor_msgs/Image
|
| 59 |
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count: 3055
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| 60 |
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hz_mean: 14.998767426339962
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category: camera
|
| 64 |
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|
| 65 |
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msg_type: nav_msgs/Odometry
|
| 66 |
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count: 40567
|
| 67 |
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timestamp_min_ns: 1778694474119178625
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| 68 |
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timestamp_max_ns: 1778694677822377748
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| 69 |
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hz_mean: 199.14267510106924
|
| 70 |
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category: odometry
|
| 71 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
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msg_type: nav_msgs/Odometry
|
| 73 |
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count: 40562
|
| 74 |
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timestamp_min_ns: 1778694474119182369
|
| 75 |
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timestamp_max_ns: 1778694677822405236
|
| 76 |
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hz_mean: 199.11810637617015
|
| 77 |
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category: odometry
|
| 78 |
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- topic: /livox/imu
|
| 79 |
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msg_type: sensor_msgs/Imu
|
| 80 |
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count: 38105
|
| 81 |
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timestamp_min_ns: 1778694474121358807
|
| 82 |
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timestamp_max_ns: 1778694664644526063
|
| 83 |
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hz_mean: 199.9966752011888
|
| 84 |
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category: imu
|
| 85 |
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- topic: /livox/lidar
|
| 86 |
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msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
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count: 1905
|
| 88 |
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timestamp_min_ns: 1778694474202590787
|
| 89 |
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timestamp_max_ns: 1778694664602058223
|
| 90 |
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hz_mean: 10.000027970876555
|
| 91 |
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category: lidar
|
| 92 |
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- topic: /mavros/imu/data
|
| 93 |
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msg_type: sensor_msgs/Imu
|
| 94 |
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count: 40640
|
| 95 |
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timestamp_min_ns: 1778694474131968284
|
| 96 |
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timestamp_max_ns: 1778694677825350910
|
| 97 |
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hz_mean: 199.51065408254811
|
| 98 |
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category: imu
|
| 99 |
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- topic: /mavros/imu/data_raw
|
| 100 |
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msg_type: sensor_msgs/Imu
|
| 101 |
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count: 40676
|
| 102 |
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timestamp_min_ns: 1778694474130991844
|
| 103 |
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timestamp_max_ns: 1778694677821118772
|
| 104 |
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hz_mean: 199.69058202991704
|
| 105 |
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category: imu
|
| 106 |
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- topic: /nlink_tofsensem_cascade
|
| 107 |
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msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
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count: 3043
|
| 109 |
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timestamp_min_ns: 1778694474127627921
|
| 110 |
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timestamp_max_ns: 1778694677794348443
|
| 111 |
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hz_mean: 14.936166263213359
|
| 112 |
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category: tof
|
| 113 |
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- topic: /tf_static
|
| 114 |
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msg_type: tf2_msgs/TFMessage
|
| 115 |
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count: 2
|
| 116 |
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timestamp_min_ns: 1778694474130990276
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| 117 |
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timestamp_max_ns: 1778694474131557649
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| 118 |
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hz_mean: 1762.5089667643683
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_020913_odom_run015/metadata.yaml
CHANGED
|
@@ -10,11 +10,109 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 414.259038846
|
| 14 |
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start_time_ns: 1778695755797914486
|
| 15 |
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end_time_ns: 1778696170056953332
|
| 16 |
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num_messages: 460964
|
| 17 |
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topics:
|
| 18 |
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- topic: /camera/depth/camera_info
|
| 19 |
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msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 6202
|
| 21 |
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timestamp_min_ns: 1778695756576869705
|
| 22 |
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timestamp_max_ns: 1778696170013654224
|
| 23 |
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hz_mean: 14.99866541196705
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/depth/image_rect_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
+
count: 6202
|
| 28 |
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timestamp_min_ns: 1778695756578794615
|
| 29 |
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timestamp_max_ns: 1778696170015027693
|
| 30 |
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hz_mean: 14.998685417177992
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/infra1/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 6200
|
| 35 |
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timestamp_min_ns: 1778695756721557941
|
| 36 |
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timestamp_max_ns: 1778696170013606479
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| 37 |
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hz_mean: 14.999078791688959
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/infra1/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 6200
|
| 42 |
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timestamp_min_ns: 1778695756726711911
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| 43 |
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| 44 |
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hz_mean: 14.999250204697892
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| 45 |
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category: camera
|
| 46 |
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|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 6200
|
| 49 |
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timestamp_min_ns: 1778695756726657701
|
| 50 |
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timestamp_max_ns: 1778696170015173776
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| 51 |
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hz_mean: 14.999206991938433
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| 52 |
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category: camera
|
| 53 |
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|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 6200
|
| 56 |
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timestamp_min_ns: 1778695756726938672
|
| 57 |
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timestamp_max_ns: 1778696170015197425
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| 58 |
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hz_mean: 14.999216330761545
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| 59 |
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category: camera
|
| 60 |
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- topic: /ekf_quat/ekf_odom
|
| 61 |
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msg_type: nav_msgs/Odometry
|
| 62 |
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count: 82575
|
| 63 |
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timestamp_min_ns: 1778695755797915958
|
| 64 |
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timestamp_max_ns: 1778696170052696571
|
| 65 |
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hz_mean: 199.33143530126517
|
| 66 |
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category: odometry
|
| 67 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 68 |
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msg_type: nav_msgs/Odometry
|
| 69 |
+
count: 82562
|
| 70 |
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timestamp_min_ns: 1778695755797914486
|
| 71 |
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timestamp_max_ns: 1778696170052864063
|
| 72 |
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hz_mean: 199.29997235833608
|
| 73 |
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category: odometry
|
| 74 |
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- topic: /livox/imu
|
| 75 |
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msg_type: sensor_msgs/Imu
|
| 76 |
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count: 82852
|
| 77 |
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timestamp_min_ns: 1778695755798027355
|
| 78 |
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timestamp_max_ns: 1778696170056953332
|
| 79 |
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hz_mean: 199.99810457819794
|
| 80 |
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category: imu
|
| 81 |
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- topic: /livox/lidar
|
| 82 |
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msg_type: livox_ros_driver2/CustomMsg
|
| 83 |
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count: 4142
|
| 84 |
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timestamp_min_ns: 1778695755929207072
|
| 85 |
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timestamp_max_ns: 1778696170019113922
|
| 86 |
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hz_mean: 10.000243742960963
|
| 87 |
+
category: lidar
|
| 88 |
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- topic: /mavros/imu/data
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 82666
|
| 91 |
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timestamp_min_ns: 1778695755911847132
|
| 92 |
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timestamp_max_ns: 1778696170052532664
|
| 93 |
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hz_mean: 199.6060828793229
|
| 94 |
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category: imu
|
| 95 |
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- topic: /mavros/imu/data_raw
|
| 96 |
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msg_type: sensor_msgs/Imu
|
| 97 |
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count: 82766
|
| 98 |
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timestamp_min_ns: 1778695755912304335
|
| 99 |
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timestamp_max_ns: 1778696170053838451
|
| 100 |
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hz_mean: 199.8471372272884
|
| 101 |
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category: imu
|
| 102 |
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- topic: /nlink_tofsensem_cascade
|
| 103 |
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msg_type: nlink_parser/TofsenseMCascade
|
| 104 |
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count: 6195
|
| 105 |
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timestamp_min_ns: 1778695756023607241
|
| 106 |
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timestamp_max_ns: 1778696170029509626
|
| 107 |
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hz_mean: 14.961139356510818
|
| 108 |
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category: tof
|
| 109 |
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- topic: /tf_static
|
| 110 |
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msg_type: tf2_msgs/TFMessage
|
| 111 |
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count: 2
|
| 112 |
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timestamp_min_ns: 1778695755912467669
|
| 113 |
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timestamp_max_ns: 1778695756464010255
|
| 114 |
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hz_mean: 1.8130966227873473
|
| 115 |
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category: tf
|
| 116 |
calibration_id: robot_v1_template
|
| 117 |
quality:
|
| 118 |
status: unchecked
|
raw/sessions/2026-05-14_020913_odom_run015/topic_summary.yaml
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-14_020913_odom_run015
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 414.259038846
|
| 4 |
+
start_time_ns: 1778695755797914486
|
| 5 |
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end_time_ns: 1778696170056953332
|
| 6 |
+
num_messages: 460964
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/depth/camera_info
|
| 9 |
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msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 6202
|
| 11 |
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timestamp_min_ns: 1778695756576869705
|
| 12 |
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timestamp_max_ns: 1778696170013654224
|
| 13 |
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hz_mean: 14.99866541196705
|
| 14 |
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category: camera
|
| 15 |
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- topic: /camera/depth/image_rect_raw
|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
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count: 6202
|
| 18 |
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timestamp_min_ns: 1778695756578794615
|
| 19 |
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timestamp_max_ns: 1778696170015027693
|
| 20 |
+
hz_mean: 14.998685417177992
|
| 21 |
+
category: camera
|
| 22 |
+
- topic: /camera/infra1/camera_info
|
| 23 |
+
msg_type: sensor_msgs/CameraInfo
|
| 24 |
+
count: 6200
|
| 25 |
+
timestamp_min_ns: 1778695756721557941
|
| 26 |
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timestamp_max_ns: 1778696170013606479
|
| 27 |
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hz_mean: 14.999078791688959
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/infra1/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 6200
|
| 32 |
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timestamp_min_ns: 1778695756726711911
|
| 33 |
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timestamp_max_ns: 1778696170014037304
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| 34 |
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hz_mean: 14.999250204697892
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| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra2/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 6200
|
| 39 |
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timestamp_min_ns: 1778695756726657701
|
| 40 |
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timestamp_max_ns: 1778696170015173776
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| 41 |
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hz_mean: 14.999206991938433
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| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra2/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 6200
|
| 46 |
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timestamp_min_ns: 1778695756726938672
|
| 47 |
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timestamp_max_ns: 1778696170015197425
|
| 48 |
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hz_mean: 14.999216330761545
|
| 49 |
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category: camera
|
| 50 |
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- topic: /ekf_quat/ekf_odom
|
| 51 |
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msg_type: nav_msgs/Odometry
|
| 52 |
+
count: 82575
|
| 53 |
+
timestamp_min_ns: 1778695755797915958
|
| 54 |
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timestamp_max_ns: 1778696170052696571
|
| 55 |
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hz_mean: 199.33143530126517
|
| 56 |
+
category: odometry
|
| 57 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 58 |
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msg_type: nav_msgs/Odometry
|
| 59 |
+
count: 82562
|
| 60 |
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timestamp_min_ns: 1778695755797914486
|
| 61 |
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timestamp_max_ns: 1778696170052864063
|
| 62 |
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hz_mean: 199.29997235833608
|
| 63 |
+
category: odometry
|
| 64 |
+
- topic: /livox/imu
|
| 65 |
+
msg_type: sensor_msgs/Imu
|
| 66 |
+
count: 82852
|
| 67 |
+
timestamp_min_ns: 1778695755798027355
|
| 68 |
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timestamp_max_ns: 1778696170056953332
|
| 69 |
+
hz_mean: 199.99810457819794
|
| 70 |
+
category: imu
|
| 71 |
+
- topic: /livox/lidar
|
| 72 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 73 |
+
count: 4142
|
| 74 |
+
timestamp_min_ns: 1778695755929207072
|
| 75 |
+
timestamp_max_ns: 1778696170019113922
|
| 76 |
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hz_mean: 10.000243742960963
|
| 77 |
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category: lidar
|
| 78 |
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- topic: /mavros/imu/data
|
| 79 |
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msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 82666
|
| 81 |
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timestamp_min_ns: 1778695755911847132
|
| 82 |
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timestamp_max_ns: 1778696170052532664
|
| 83 |
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hz_mean: 199.6060828793229
|
| 84 |
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category: imu
|
| 85 |
+
- topic: /mavros/imu/data_raw
|
| 86 |
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msg_type: sensor_msgs/Imu
|
| 87 |
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count: 82766
|
| 88 |
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timestamp_min_ns: 1778695755912304335
|
| 89 |
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timestamp_max_ns: 1778696170053838451
|
| 90 |
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hz_mean: 199.8471372272884
|
| 91 |
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category: imu
|
| 92 |
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- topic: /nlink_tofsensem_cascade
|
| 93 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 94 |
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count: 6195
|
| 95 |
+
timestamp_min_ns: 1778695756023607241
|
| 96 |
+
timestamp_max_ns: 1778696170029509626
|
| 97 |
+
hz_mean: 14.961139356510818
|
| 98 |
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category: tof
|
| 99 |
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- topic: /tf_static
|
| 100 |
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msg_type: tf2_msgs/TFMessage
|
| 101 |
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count: 2
|
| 102 |
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timestamp_min_ns: 1778695755912467669
|
| 103 |
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timestamp_max_ns: 1778695756464010255
|
| 104 |
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hz_mean: 1.8130966227873473
|
| 105 |
+
category: tf
|
raw/sessions/2026-05-14_024038_odom_run016/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 179.814932855
|
| 14 |
+
start_time_ns: 1778697639612987537
|
| 15 |
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end_time_ns: 1778697819427920392
|
| 16 |
+
num_messages: 210262
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 5390
|
| 21 |
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timestamp_min_ns: 1778697639641119738
|
| 22 |
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timestamp_max_ns: 1778697819402891951
|
| 23 |
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hz_mean: 29.978565151296827
|
| 24 |
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category: camera
|
| 25 |
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- topic: /camera/color/image_raw
|
| 26 |
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msg_type: sensor_msgs/Image
|
| 27 |
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count: 5390
|
| 28 |
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timestamp_min_ns: 1778697639644071105
|
| 29 |
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timestamp_max_ns: 1778697819404569894
|
| 30 |
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hz_mean: 29.978777519556854
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 2697
|
| 35 |
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timestamp_min_ns: 1778697639647844445
|
| 36 |
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timestamp_max_ns: 1778697819395793005
|
| 37 |
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hz_mean: 14.99878035659513
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 2697
|
| 42 |
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timestamp_min_ns: 1778697639650013233
|
| 43 |
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timestamp_max_ns: 1778697819395562538
|
| 44 |
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hz_mean: 14.998980561267256
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 2697
|
| 49 |
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timestamp_min_ns: 1778697639649192637
|
| 50 |
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timestamp_max_ns: 1778697819397412419
|
| 51 |
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hz_mean: 14.998757724942863
|
| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 2697
|
| 56 |
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timestamp_min_ns: 1778697639650306008
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| 57 |
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timestamp_max_ns: 1778697819397421540
|
| 58 |
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hz_mean: 14.998849867607676
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 2697
|
| 63 |
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timestamp_min_ns: 1778697639649419683
|
| 64 |
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timestamp_max_ns: 1778697819398358640
|
| 65 |
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hz_mean: 14.998697714955323
|
| 66 |
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category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
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count: 2697
|
| 70 |
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timestamp_min_ns: 1778697639650745187
|
| 71 |
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timestamp_max_ns: 1778697819398337840
|
| 72 |
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hz_mean: 14.998810054744862
|
| 73 |
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category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 35859
|
| 77 |
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timestamp_min_ns: 1778697639612987537
|
| 78 |
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timestamp_max_ns: 1778697819427528834
|
| 79 |
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hz_mean: 199.41657521887106
|
| 80 |
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category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 35856
|
| 84 |
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timestamp_min_ns: 1778697639617014483
|
| 85 |
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timestamp_max_ns: 1778697819427579491
|
| 86 |
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hz_mean: 199.40430084519653
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 35331
|
| 91 |
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timestamp_min_ns: 1778697639613710211
|
| 92 |
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timestamp_max_ns: 1778697816264001194
|
| 93 |
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hz_mean: 199.9996705547459
|
| 94 |
+
category: imu
|
| 95 |
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- topic: /livox/lidar
|
| 96 |
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msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
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count: 1767
|
| 98 |
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timestamp_min_ns: 1778697639659269233
|
| 99 |
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timestamp_max_ns: 1778697816260038995
|
| 100 |
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hz_mean: 9.99995641230777
|
| 101 |
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category: lidar
|
| 102 |
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- topic: /mavros/imu/data
|
| 103 |
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msg_type: sensor_msgs/Imu
|
| 104 |
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count: 35875
|
| 105 |
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timestamp_min_ns: 1778697639616841199
|
| 106 |
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timestamp_max_ns: 1778697819427209662
|
| 107 |
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hz_mean: 199.5101856842136
|
| 108 |
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category: imu
|
| 109 |
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- topic: /mavros/imu/data_raw
|
| 110 |
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msg_type: sensor_msgs/Imu
|
| 111 |
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count: 35923
|
| 112 |
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timestamp_min_ns: 1778697639615329418
|
| 113 |
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timestamp_max_ns: 1778697819427175229
|
| 114 |
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hz_mean: 199.77549219842592
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 2687
|
| 119 |
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timestamp_min_ns: 1778697639628324004
|
| 120 |
+
timestamp_max_ns: 1778697819427920392
|
| 121 |
+
hz_mean: 14.938854446612464
|
| 122 |
+
category: tof
|
| 123 |
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- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778697639616307746
|
| 127 |
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timestamp_max_ns: 1778697639616886032
|
| 128 |
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hz_mean: 1729.248157486088
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_024038_odom_run016/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-14_024038_odom_run016
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 179.814932855
|
| 4 |
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start_time_ns: 1778697639612987537
|
| 5 |
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end_time_ns: 1778697819427920392
|
| 6 |
+
num_messages: 210262
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 5390
|
| 11 |
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timestamp_min_ns: 1778697639641119738
|
| 12 |
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timestamp_max_ns: 1778697819402891951
|
| 13 |
+
hz_mean: 29.978565151296827
|
| 14 |
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category: camera
|
| 15 |
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- topic: /camera/color/image_raw
|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
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count: 5390
|
| 18 |
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timestamp_min_ns: 1778697639644071105
|
| 19 |
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timestamp_max_ns: 1778697819404569894
|
| 20 |
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hz_mean: 29.978777519556854
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 2697
|
| 25 |
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timestamp_min_ns: 1778697639647844445
|
| 26 |
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timestamp_max_ns: 1778697819395793005
|
| 27 |
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hz_mean: 14.99878035659513
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 2697
|
| 32 |
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timestamp_min_ns: 1778697639650013233
|
| 33 |
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timestamp_max_ns: 1778697819395562538
|
| 34 |
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hz_mean: 14.998980561267256
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
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count: 2697
|
| 39 |
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timestamp_min_ns: 1778697639649192637
|
| 40 |
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timestamp_max_ns: 1778697819397412419
|
| 41 |
+
hz_mean: 14.998757724942863
|
| 42 |
+
category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 2697
|
| 46 |
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timestamp_min_ns: 1778697639650306008
|
| 47 |
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timestamp_max_ns: 1778697819397421540
|
| 48 |
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hz_mean: 14.998849867607676
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| 49 |
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category: camera
|
| 50 |
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- topic: /camera/infra2/camera_info
|
| 51 |
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msg_type: sensor_msgs/CameraInfo
|
| 52 |
+
count: 2697
|
| 53 |
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timestamp_min_ns: 1778697639649419683
|
| 54 |
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timestamp_max_ns: 1778697819398358640
|
| 55 |
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hz_mean: 14.998697714955323
|
| 56 |
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category: camera
|
| 57 |
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- topic: /camera/infra2/image_rect_raw
|
| 58 |
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msg_type: sensor_msgs/Image
|
| 59 |
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count: 2697
|
| 60 |
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timestamp_min_ns: 1778697639650745187
|
| 61 |
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timestamp_max_ns: 1778697819398337840
|
| 62 |
+
hz_mean: 14.998810054744862
|
| 63 |
+
category: camera
|
| 64 |
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- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 35859
|
| 67 |
+
timestamp_min_ns: 1778697639612987537
|
| 68 |
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timestamp_max_ns: 1778697819427528834
|
| 69 |
+
hz_mean: 199.41657521887106
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 35856
|
| 74 |
+
timestamp_min_ns: 1778697639617014483
|
| 75 |
+
timestamp_max_ns: 1778697819427579491
|
| 76 |
+
hz_mean: 199.40430084519653
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 35331
|
| 81 |
+
timestamp_min_ns: 1778697639613710211
|
| 82 |
+
timestamp_max_ns: 1778697816264001194
|
| 83 |
+
hz_mean: 199.9996705547459
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 1767
|
| 88 |
+
timestamp_min_ns: 1778697639659269233
|
| 89 |
+
timestamp_max_ns: 1778697816260038995
|
| 90 |
+
hz_mean: 9.99995641230777
|
| 91 |
+
category: lidar
|
| 92 |
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- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 35875
|
| 95 |
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timestamp_min_ns: 1778697639616841199
|
| 96 |
+
timestamp_max_ns: 1778697819427209662
|
| 97 |
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hz_mean: 199.5101856842136
|
| 98 |
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category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 35923
|
| 102 |
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timestamp_min_ns: 1778697639615329418
|
| 103 |
+
timestamp_max_ns: 1778697819427175229
|
| 104 |
+
hz_mean: 199.77549219842592
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 2687
|
| 109 |
+
timestamp_min_ns: 1778697639628324004
|
| 110 |
+
timestamp_max_ns: 1778697819427920392
|
| 111 |
+
hz_mean: 14.938854446612464
|
| 112 |
+
category: tof
|
| 113 |
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- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
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timestamp_min_ns: 1778697639616307746
|
| 117 |
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timestamp_max_ns: 1778697639616886032
|
| 118 |
+
hz_mean: 1729.248157486088
|
| 119 |
+
category: tf
|
raw/sessions/2026-05-14_024553_odom_run017/metadata.yaml
CHANGED
|
@@ -10,11 +10,123 @@ source:
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
-
duration_sec:
|
| 14 |
-
start_time_ns:
|
| 15 |
-
end_time_ns:
|
| 16 |
-
num_messages:
|
| 17 |
-
topics:
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
calibration_id: robot_v1_template
|
| 19 |
quality:
|
| 20 |
status: unchecked
|
|
|
|
| 10 |
import_mode: hardlink
|
| 11 |
platform: {}
|
| 12 |
time:
|
| 13 |
+
duration_sec: 104.669075544
|
| 14 |
+
start_time_ns: 1778697955498511533
|
| 15 |
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end_time_ns: 1778698060167587077
|
| 16 |
+
num_messages: 120725
|
| 17 |
+
topics:
|
| 18 |
+
- topic: /camera/color/camera_info
|
| 19 |
+
msg_type: sensor_msgs/CameraInfo
|
| 20 |
+
count: 3016
|
| 21 |
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timestamp_min_ns: 1778697958600788647
|
| 22 |
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timestamp_max_ns: 1778698060140122843
|
| 23 |
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hz_mean: 29.692926626642898
|
| 24 |
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category: camera
|
| 25 |
+
- topic: /camera/color/image_raw
|
| 26 |
+
msg_type: sensor_msgs/Image
|
| 27 |
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count: 3016
|
| 28 |
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timestamp_min_ns: 1778697958603049180
|
| 29 |
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timestamp_max_ns: 1778698060141776190
|
| 30 |
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hz_mean: 29.69310418578587
|
| 31 |
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category: camera
|
| 32 |
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- topic: /camera/depth/camera_info
|
| 33 |
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msg_type: sensor_msgs/CameraInfo
|
| 34 |
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count: 1511
|
| 35 |
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timestamp_min_ns: 1778697958491207890
|
| 36 |
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timestamp_max_ns: 1778698060163658888
|
| 37 |
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hz_mean: 14.85161403288786
|
| 38 |
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category: camera
|
| 39 |
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- topic: /camera/depth/image_rect_raw
|
| 40 |
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msg_type: sensor_msgs/Image
|
| 41 |
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count: 1511
|
| 42 |
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timestamp_min_ns: 1778697958491176113
|
| 43 |
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timestamp_max_ns: 1778698060164259648
|
| 44 |
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hz_mean: 14.851521636797774
|
| 45 |
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category: camera
|
| 46 |
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- topic: /camera/infra1/camera_info
|
| 47 |
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msg_type: sensor_msgs/CameraInfo
|
| 48 |
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count: 1510
|
| 49 |
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timestamp_min_ns: 1778697958556435154
|
| 50 |
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timestamp_max_ns: 1778698060164307746
|
| 51 |
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hz_mean: 14.851211441649745
|
| 52 |
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category: camera
|
| 53 |
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- topic: /camera/infra1/image_rect_raw
|
| 54 |
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msg_type: sensor_msgs/Image
|
| 55 |
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count: 1510
|
| 56 |
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timestamp_min_ns: 1778697958558992719
|
| 57 |
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timestamp_max_ns: 1778698060164576780
|
| 58 |
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hz_mean: 14.851545945487166
|
| 59 |
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category: camera
|
| 60 |
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- topic: /camera/infra2/camera_info
|
| 61 |
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msg_type: sensor_msgs/CameraInfo
|
| 62 |
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count: 1510
|
| 63 |
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timestamp_min_ns: 1778697958558441186
|
| 64 |
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timestamp_max_ns: 1778698060164697585
|
| 65 |
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hz_mean: 14.851447671433464
|
| 66 |
+
category: camera
|
| 67 |
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- topic: /camera/infra2/image_rect_raw
|
| 68 |
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msg_type: sensor_msgs/Image
|
| 69 |
+
count: 1510
|
| 70 |
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timestamp_min_ns: 1778697958558517955
|
| 71 |
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timestamp_max_ns: 1778698060164676048
|
| 72 |
+
hz_mean: 14.851462040507563
|
| 73 |
+
category: camera
|
| 74 |
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- topic: /ekf_quat/ekf_odom
|
| 75 |
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msg_type: nav_msgs/Odometry
|
| 76 |
+
count: 20545
|
| 77 |
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timestamp_min_ns: 1778697955502572940
|
| 78 |
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timestamp_max_ns: 1778698060166355316
|
| 79 |
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hz_mean: 196.28566380485458
|
| 80 |
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category: odometry
|
| 81 |
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- topic: /fusion_odometry/lazy_point_odom
|
| 82 |
+
msg_type: nav_msgs/Odometry
|
| 83 |
+
count: 20541
|
| 84 |
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timestamp_min_ns: 1778697955502549132
|
| 85 |
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timestamp_max_ns: 1778698060166358452
|
| 86 |
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hz_mean: 196.24739567046365
|
| 87 |
+
category: odometry
|
| 88 |
+
- topic: /livox/imu
|
| 89 |
+
msg_type: sensor_msgs/Imu
|
| 90 |
+
count: 20740
|
| 91 |
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timestamp_min_ns: 1778697955501788794
|
| 92 |
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timestamp_max_ns: 1778698060164714162
|
| 93 |
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hz_mean: 198.15039496632312
|
| 94 |
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category: imu
|
| 95 |
+
- topic: /livox/lidar
|
| 96 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 97 |
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count: 1036
|
| 98 |
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timestamp_min_ns: 1778697955508767678
|
| 99 |
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timestamp_max_ns: 1778698060107307997
|
| 100 |
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hz_mean: 9.894975559348179
|
| 101 |
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category: lidar
|
| 102 |
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- topic: /mavros/imu/data
|
| 103 |
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msg_type: sensor_msgs/Imu
|
| 104 |
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count: 20595
|
| 105 |
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timestamp_min_ns: 1778697955498511533
|
| 106 |
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timestamp_max_ns: 1778698060166333907
|
| 107 |
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hz_mean: 196.75578924737093
|
| 108 |
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category: imu
|
| 109 |
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- topic: /mavros/imu/data_raw
|
| 110 |
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msg_type: sensor_msgs/Imu
|
| 111 |
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count: 20623
|
| 112 |
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timestamp_min_ns: 1778697955505351630
|
| 113 |
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timestamp_max_ns: 1778698060167587077
|
| 114 |
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hz_mean: 197.0338194280476
|
| 115 |
+
category: imu
|
| 116 |
+
- topic: /nlink_tofsensem_cascade
|
| 117 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 118 |
+
count: 1549
|
| 119 |
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timestamp_min_ns: 1778697955526311260
|
| 120 |
+
timestamp_max_ns: 1778698060126242609
|
| 121 |
+
hz_mean: 14.799244894674581
|
| 122 |
+
category: tof
|
| 123 |
+
- topic: /tf_static
|
| 124 |
+
msg_type: tf2_msgs/TFMessage
|
| 125 |
+
count: 2
|
| 126 |
+
timestamp_min_ns: 1778697955501320079
|
| 127 |
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timestamp_max_ns: 1778697958378088873
|
| 128 |
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hz_mean: 0.34761222455056984
|
| 129 |
+
category: tf
|
| 130 |
calibration_id: robot_v1_template
|
| 131 |
quality:
|
| 132 |
status: unchecked
|
raw/sessions/2026-05-14_024553_odom_run017/topic_summary.yaml
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
session_id: 2026-05-14_024553_odom_run017
|
| 2 |
+
bag: bag.bag
|
| 3 |
+
duration_sec: 104.669075544
|
| 4 |
+
start_time_ns: 1778697955498511533
|
| 5 |
+
end_time_ns: 1778698060167587077
|
| 6 |
+
num_messages: 120725
|
| 7 |
+
topics:
|
| 8 |
+
- topic: /camera/color/camera_info
|
| 9 |
+
msg_type: sensor_msgs/CameraInfo
|
| 10 |
+
count: 3016
|
| 11 |
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timestamp_min_ns: 1778697958600788647
|
| 12 |
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timestamp_max_ns: 1778698060140122843
|
| 13 |
+
hz_mean: 29.692926626642898
|
| 14 |
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category: camera
|
| 15 |
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- topic: /camera/color/image_raw
|
| 16 |
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msg_type: sensor_msgs/Image
|
| 17 |
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count: 3016
|
| 18 |
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timestamp_min_ns: 1778697958603049180
|
| 19 |
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timestamp_max_ns: 1778698060141776190
|
| 20 |
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hz_mean: 29.69310418578587
|
| 21 |
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category: camera
|
| 22 |
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- topic: /camera/depth/camera_info
|
| 23 |
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msg_type: sensor_msgs/CameraInfo
|
| 24 |
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count: 1511
|
| 25 |
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timestamp_min_ns: 1778697958491207890
|
| 26 |
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timestamp_max_ns: 1778698060163658888
|
| 27 |
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hz_mean: 14.85161403288786
|
| 28 |
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category: camera
|
| 29 |
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- topic: /camera/depth/image_rect_raw
|
| 30 |
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msg_type: sensor_msgs/Image
|
| 31 |
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count: 1511
|
| 32 |
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timestamp_min_ns: 1778697958491176113
|
| 33 |
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timestamp_max_ns: 1778698060164259648
|
| 34 |
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hz_mean: 14.851521636797774
|
| 35 |
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category: camera
|
| 36 |
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- topic: /camera/infra1/camera_info
|
| 37 |
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msg_type: sensor_msgs/CameraInfo
|
| 38 |
+
count: 1510
|
| 39 |
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timestamp_min_ns: 1778697958556435154
|
| 40 |
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timestamp_max_ns: 1778698060164307746
|
| 41 |
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hz_mean: 14.851211441649745
|
| 42 |
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category: camera
|
| 43 |
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- topic: /camera/infra1/image_rect_raw
|
| 44 |
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msg_type: sensor_msgs/Image
|
| 45 |
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count: 1510
|
| 46 |
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timestamp_min_ns: 1778697958558992719
|
| 47 |
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timestamp_max_ns: 1778698060164576780
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| 48 |
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hz_mean: 14.851545945487166
|
| 49 |
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category: camera
|
| 50 |
+
- topic: /camera/infra2/camera_info
|
| 51 |
+
msg_type: sensor_msgs/CameraInfo
|
| 52 |
+
count: 1510
|
| 53 |
+
timestamp_min_ns: 1778697958558441186
|
| 54 |
+
timestamp_max_ns: 1778698060164697585
|
| 55 |
+
hz_mean: 14.851447671433464
|
| 56 |
+
category: camera
|
| 57 |
+
- topic: /camera/infra2/image_rect_raw
|
| 58 |
+
msg_type: sensor_msgs/Image
|
| 59 |
+
count: 1510
|
| 60 |
+
timestamp_min_ns: 1778697958558517955
|
| 61 |
+
timestamp_max_ns: 1778698060164676048
|
| 62 |
+
hz_mean: 14.851462040507563
|
| 63 |
+
category: camera
|
| 64 |
+
- topic: /ekf_quat/ekf_odom
|
| 65 |
+
msg_type: nav_msgs/Odometry
|
| 66 |
+
count: 20545
|
| 67 |
+
timestamp_min_ns: 1778697955502572940
|
| 68 |
+
timestamp_max_ns: 1778698060166355316
|
| 69 |
+
hz_mean: 196.28566380485458
|
| 70 |
+
category: odometry
|
| 71 |
+
- topic: /fusion_odometry/lazy_point_odom
|
| 72 |
+
msg_type: nav_msgs/Odometry
|
| 73 |
+
count: 20541
|
| 74 |
+
timestamp_min_ns: 1778697955502549132
|
| 75 |
+
timestamp_max_ns: 1778698060166358452
|
| 76 |
+
hz_mean: 196.24739567046365
|
| 77 |
+
category: odometry
|
| 78 |
+
- topic: /livox/imu
|
| 79 |
+
msg_type: sensor_msgs/Imu
|
| 80 |
+
count: 20740
|
| 81 |
+
timestamp_min_ns: 1778697955501788794
|
| 82 |
+
timestamp_max_ns: 1778698060164714162
|
| 83 |
+
hz_mean: 198.15039496632312
|
| 84 |
+
category: imu
|
| 85 |
+
- topic: /livox/lidar
|
| 86 |
+
msg_type: livox_ros_driver2/CustomMsg
|
| 87 |
+
count: 1036
|
| 88 |
+
timestamp_min_ns: 1778697955508767678
|
| 89 |
+
timestamp_max_ns: 1778698060107307997
|
| 90 |
+
hz_mean: 9.894975559348179
|
| 91 |
+
category: lidar
|
| 92 |
+
- topic: /mavros/imu/data
|
| 93 |
+
msg_type: sensor_msgs/Imu
|
| 94 |
+
count: 20595
|
| 95 |
+
timestamp_min_ns: 1778697955498511533
|
| 96 |
+
timestamp_max_ns: 1778698060166333907
|
| 97 |
+
hz_mean: 196.75578924737093
|
| 98 |
+
category: imu
|
| 99 |
+
- topic: /mavros/imu/data_raw
|
| 100 |
+
msg_type: sensor_msgs/Imu
|
| 101 |
+
count: 20623
|
| 102 |
+
timestamp_min_ns: 1778697955505351630
|
| 103 |
+
timestamp_max_ns: 1778698060167587077
|
| 104 |
+
hz_mean: 197.0338194280476
|
| 105 |
+
category: imu
|
| 106 |
+
- topic: /nlink_tofsensem_cascade
|
| 107 |
+
msg_type: nlink_parser/TofsenseMCascade
|
| 108 |
+
count: 1549
|
| 109 |
+
timestamp_min_ns: 1778697955526311260
|
| 110 |
+
timestamp_max_ns: 1778698060126242609
|
| 111 |
+
hz_mean: 14.799244894674581
|
| 112 |
+
category: tof
|
| 113 |
+
- topic: /tf_static
|
| 114 |
+
msg_type: tf2_msgs/TFMessage
|
| 115 |
+
count: 2
|
| 116 |
+
timestamp_min_ns: 1778697955501320079
|
| 117 |
+
timestamp_max_ns: 1778697958378088873
|
| 118 |
+
hz_mean: 0.34761222455056984
|
| 119 |
+
category: tf
|
scripts/scan_bag_topics.py
CHANGED
|
@@ -64,7 +64,7 @@ def scan_session(session_dir: Path) -> dict[str, Any]:
|
|
| 64 |
for topic, msg_type in topic_types.items()
|
| 65 |
}
|
| 66 |
|
| 67 |
-
for topic, _, stamp in bag.read_messages():
|
| 68 |
stamp_ns = to_nsec(stamp)
|
| 69 |
item = stats.setdefault(
|
| 70 |
topic,
|
|
|
|
| 64 |
for topic, msg_type in topic_types.items()
|
| 65 |
}
|
| 66 |
|
| 67 |
+
for topic, _, stamp in bag.read_messages(raw=True):
|
| 68 |
stamp_ns = to_nsec(stamp)
|
| 69 |
item = stats.setdefault(
|
| 70 |
topic,
|