ROS Topics

Throughout this project, we make use of the ROS parameter server, which makes variables accessible to all nodes running on the same roscore. A list of parameters can be retrieved at any time with

$ rostopic list

Below is a list of topics used in Project Fezzik.

topic: base_control_sig
value: Float32MultiArray
publishers: vel_topic_converter.py
subscribers: movement_control.py

topic: reset_mbed
value: Empty
publishers: - (command line)
subscribers: navigation_handler_server.py

topic: reset_mbed_timeout
value: Empty
publishers: navigation_handler_server.py
subscribers: movement_control.py

topic: cmd_vel
value: Twist
publishers: move_base
subscribers: odometry_publisher_cmd_vel.py, vel_topic_converter.py

topic: poseupdate
value: PoseWithCovarianceStamped
publishers: hector_mapping
subscribers: odometry_publisher_cmd_vel.py

topic: odom
value: Odometry
publishers: odometry_publisher_cmd_vel.py
subscribers: move_base

topic: face_recognition/name_location
value: Name_location (custom msg)
publishers: face_pub.py
subscribers: face_sub.py

topic: object_handler/object_name
value: Int32MultiArray
publishers: kinect_detected_markers.py
subscribers: receive_instruction.py

topic: tf
value: TFMessage
publishers: Microsoft Kinect
subscribers: object_recognition_server.py