Hardware Overview

Introduction

The Milieu Babel tank was recently upgraded in order to continue testing our multi-agent networking solutions. Currently, the hardware consists of:

• SEEED ODYSSEY - X86J4105800

• YDLIDAR G2B

• Intel Realsense D435i

Initial Benchmarks

The initial benchmarks for this device were determined by measuring the frequency of the node messages locally on the board. These measurements were obtained by using the rostopic hz command while remotely connected to the board. As such, these measurements do not reflect the amount of time it took to broadcast them to other devices on the LAN. Based off of a replay of a rosbag file recorded locallly on the robot, we can see that the stream from the camera is recorded at about 30 fps.

Topic Name	Type	Description	Average Hz
/scan	sensor_msgs/LaserScan	Laser Scans from the LIDAR Sensor	10.136
/camera/color/image_raw	sensor_msgs/Image	The RGB Camera Stream from the Realsense Camera	29.765
/camera/gyro/sample	sensor_msgs/Imu	The odometry information from the gyroscope	399.908
/camera/accel/sample	sensor_msgs/Imu	The odometry information from the accelerometer	255.985

Camera Startup Instructions

With a ROS Master already running on the board, run this command:

roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true