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RosTopics
Hiroki Yamada edited this page Jan 27, 2018
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Operate the HSR by subscribing and publishing ROS topics in the table below.
| No | Topic Name | Direction | Message Type | Description |
|---|---|---|---|---|
| 1 | /hsrb/opt_command_ve locity |
ROS-> | geometry_msgs/ Twist |
To move Base (base_footprint) of Robot |
| 2 | /hsrb/head_trajector y_controller/command |
ROS-> | trajectory_msgs/ JointTrajectory |
To move Head (head_pan_joint, head_tilt_joint) |
| 3 | /hsrb/arm_trajectory _controller/command |
ROS-> | trajectory_msgs/ JointTrajectory |
To move Arm (arm_lift_joint, arm_flex_joint, arm_roll_joint, wrist_flex_joint, wrist_roll_joint) |
| 4 | /hsrb/gripper_trajec tory_controller/command |
ROS-> | trajectory_msgs/ JointTrajectory |
To move Gripper (hand_l_proximal_joint, hand_r_proximal_joint) |
| 5 | /hsrb/joint_states | SIGVerse-> | sensor_msgs/ JointState |
State of joints |
| 6 | /hsrb/base_scan | SIGVerse-> | sensor_msgs/ LaserScan |
Value of Laser range sensor |
| 7 | /hsrb/head_rgbd_sens or/rgb/image_raw |
SIGVerse-> | sensor_msgs/Image | Image of Xtion rgb camera |
| 8 | /hsrb/head_rgbd_sens or/rgb/camera_info |
SIGVerse-> | sensor_msgs/ CameraInfo |
CameraInfo of Xtion rgb camera |
| 9 | /hsrb/head_rgbd_sens or/depth/image_raw |
SIGVerse-> | sensor_msgs/Image | Image of Xtion depth camera |
| 10 | /hsrb/head_rgbd_sens or/depth/camera_info |
SIGVerse-> | sensor_msgs/ CameraInfo |
CameraInfo of Xtion depth camera |
| 11 | /hsrb/head_center_ca mera/image_raw |
SIGVerse-> | sensor_msgs/Image | Image of the head camera |
| 12 | /hsrb/head_center_ca mera/camera_info |
SIGVerse-> | sensor_msgs/ CameraInfo |
CameraInfo of the head camera |
| 13 | /hsrb/hand_camera/im age_raw |
SIGVerse-> | sensor_msgs/Image | Image of the hand camera |
| 14 | /hsrb/hand_camera/ca mera_info |
SIGVerse-> | sensor_msgs/ CameraInfo |
CameraInfo of the hand camera |
Note: SIGVerse->: SIGVerse to User's ROS Node, ROS->: User's ROS Node to SIGVerse
Furthermore, the TF information of robots is distributed at a regular interval.