Predefined ROS Topics¶

Shared between Simulation and Deployment¶

waypoint        geometry_msgs/PoseStamped
waypoint_tobest geometry_msgs/PoseStamped  # Not used yet
reached         std_msgs/String

Topic names are all lower cases by convention. Note that the topics are not global names. For deployment, we can specify environment variable ROS_NAMESPACE for each device so that ros_launch will append a prefix to the topics. That is the topic at runtime becomes /{ROS_NAMESPACE}/waypoint. ROS_NAMESPACE should be set with an unique ROS name such as IP with port.

In the simulator, *.launch is auto-generated. We explicitly generate a namespace for each simulated agent. E.g., the topic waypoint becomes /{AGENTID}/waypoint in simulation with the unique AGENTID as the namespace.

See Remapping Arguments for more detail.

Simulation only¶

Drone Specific¶

/drone{id}/ground_truth/state nav_msgs/Odometry
/drone{id}/cmd_vel            geometry_msgs/Twist
/drone{id}/goals              std_msgs/Float32MultiArray

Car Specific¶

/car{id}/racecar/left_rear_wheel_velocity_controller/command      std_msgs/Float64
/car{id}/racecar/right_rear_wheel_velocity_controller/command     std_msgs/Float64
/car{id}/racecar/left_front_wheel_velocity_controller/command     std_msgs/Float64
/car{id}/racecar/right_front_wheel_velocity_controller/command    std_msgs/Float64
/car{id}/racecar/left_steering_hinge_position_controller/command  std_msgs/Float64
/car{id}/racecar/right_steering_hinge_position_controller/command std_msgs/Float64

# goto.py
/car{id}/ground_truth/state nav_msgs/Odometry
/car{id}/goals              std_msgs/Float32MultiArray

# ackermann_car.py
/car{id}/ackermann_cmd      ackermann_msgs/AckermannDriveStamped

Deployment only¶

Vicon¶

/vrpn_client_node/{vicon_obj}/pose  geometry_msgs/PoseStamped
/vrpn_client_node/{vicon_obj}/twist geometry_msgs/TwistStamped

Drone Specific¶

/mavros/cmd/arming              mavros_msgs/CommandBool
/mavros/cmd/takeoff             mavros_msgs/CommandTOL
/mavros/cmd/land                mavros_msgs/CommandTOL
/mavros/set_mode                mavros_msgs/SetMode
/mavros/setpoint_position/local geometry_msgs/PoseStamped
/mavros/cmd/set_home            mavros_msgs/CommandHome

Car Specific¶

/ackermann_cmd ackermann_msgs/AckermannDriveStamped