The bag files are here

http://doc.openrobotino.org/f5_bagfiles/

All bag files have cmd_vel ignoring the limits in
base_local_planner_params.yaml

The all_the_way_full_speed_backwards_2010-06-16-09-15-48.bag shows a
situation where the robot moves all the way backwards. cmd_vel_x goes
down to -0.4!

verbeek@F5:~$ rostopic list -v

Published topics:
 * /map_metadata [nav_msgs/MapMetaData] 1 publisher
 * /move_base/global_costmap/robot_footprint
[geometry_msgs/PolygonStamped] 1 publisher
 * /amcl_pose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
 * /move_base/current_goal [geometry_msgs/PoseStamped] 1 publisher
 * /move_base/feedback [move_base_msgs/MoveBaseActionFeedback] 1 publisher
 * /move_base/global_costmap/inflated_obstacles [nav_msgs/GridCells] 1
publisher
 * /tf [tf/tfMessage] 4 publishers
 * /move_base/local_costmap/obstacles [nav_msgs/GridCells] 1 publisher
 * /odom [nav_msgs/Odometry] 1 publisher
 * /scan [sensor_msgs/LaserScan] 1 publisher
 * /move_base/NavfnROS/NavfnROS_costmap/unknown_space
[nav_msgs/GridCells] 1 publisher
 * /move_base/local_costmap/unknown_space [nav_msgs/GridCells] 1 publisher
 * /gyro_error [std_msgs/String] 1 publisher
 * /move_base/TrajectoryPlannerROS/global_plan [nav_msgs/Path] 1 publisher
 * /move_base/NavfnROS/plan [nav_msgs/Path] 1 publisher
 * /move_base/local_costmap/robot_footprint
[geometry_msgs/PolygonStamped] 1 publisher
 * /move_base/status [actionlib_msgs/GoalStatusArray] 1 publisher
 * /particlecloud [geometry_msgs/PoseArray] 1 publisher
 * /map [nav_msgs/OccupancyGrid] 1 publisher
 * /cmd_vel [geometry_msgs/Twist] 1 publisher
 * /fault [std_msgs/Bool] 1 publisher
 * /move_base/NavfnROS/NavfnROS_costmap/robot_footprint
[geometry_msgs/PolygonStamped] 1 publisher
 * /rosout [roslib/Log] 7 publishers
 * /move_base/global_costmap/obstacles [nav_msgs/GridCells] 1 publisher
 * /move_base/goal [move_base_msgs/MoveBaseActionGoal] 1 publisher
 * /move_base/TrajectoryPlannerROS/local_plan [nav_msgs/Path] 1 publisher
 * /rosout_agg [roslib/Log] 1 publisher
 * /move_base/local_costmap/inflated_obstacles [nav_msgs/GridCells] 1
publisher
 * /move_base/global_costmap/unknown_space [nav_msgs/GridCells] 1 publisher
 * /move_base/result [move_base_msgs/MoveBaseActionResult] 1 publisher
 * /move_base/NavfnROS/NavfnROS_costmap/obstacles [nav_msgs/GridCells] 1
publisher
 * /move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
[nav_msgs/GridCells] 1 publisher

Subscribed topics:
 * /time [unknown type] 8 subscribers
 * /move_base_simple/goal [unknown type] 1 subscriber
 * /move_base/goal [move_base_msgs/MoveBaseActionGoal] 1 subscriber
 * /map [nav_msgs/OccupancyGrid] 1 subscriber
 * /joint_states [unknown type] 1 subscriber
 * /rosout [roslib/Log] 1 subscriber
 * /tf [tf/tfMessage] 2 subscribers
 * /clock [unknown type] 8 subscribers
 * /initialpose [unknown type] 1 subscriber
 * /odom [nav_msgs/Odometry] 1 subscriber
 * /move_base/cancel [unknown type] 1 subscriber
 * /scan [sensor_msgs/LaserScan] 2 subscribers
 * /reset_time [unknown type] 2 subscribers
 * /cmd_vel [geometry_msgs/Twist] 1 subscriber
 * /tf_message [unknown type] 1 subscriber