Topics to log during deployments

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Nils Bore edited this page Apr 14, 2015 · 8 revisions

Topics to log:

Ros message printouts (above warning priority):

/rosout

Robot status:

/tf - The tf description
/robot_pose - Also in tf but might as well
/cmd_vel - Velocity sent to motors
/goal - Might be the move base goal
/mileage - Distance traveled
/motor_status - Is motor stop on? Free run etc.
/head/actual_state - Positions of eyes
/head/cmd_light_state - Eye lights
/head/commanded_state - Eye position commands?
/barrier_status - Magnetic strip?
/battery_state - Is charging, battery percentage etc.
/bumper - Is bumper pressed?
/charger_status - Charging status
/rfid - Magnetic strip etc.
/diagnostics - Network status, joystick driver status, PTU status etc.
/SetPTUState/goal - PTU position command
/ResetPtu/goal - PTU reset command
/EBC/parameter_updates - cfg changes of ebc
/Charger/parameter_updates - cfg changes of charger

Topological nav:

/topological_navigation/Route - current route through nodes
/topological_navigation/Statistics - statistics on top nav (already logged but might as well)
/current_node - current node in topo nav
/current_edge - current edge in topo nav
/closest_node - closest node in topo nav

Monitored nav:

/do_backtrack/goal - Command to do the backtrack recovery

Communication:

/speak/goal - mary tts speak command
/mary_tts/speak - same?
/strands_emails/goal - send email command
/strands_image_tweets/goal - send image tweet command
/pygame_player_negotiation - highest audio priority + node?

Docking servers:

/chargingServer/goal
/chargingServer/result
/chargingServer/cancel
/docking/goal
/docking/result
/docking/cancel
/undocking/goal
/undocking/result
/undocking/cancel

Move base:

/map_updates
/move_base/NavfnROS/plan - local plan?
/move_base/current_goal - current goal
/move_base/DWAPlannerROS/global_plan - global plan
/move_base/DWAPlannerROS/local_plan - local plan
/move_base/goal - current goal

Routine related:

/wait_node/goal - Action goal for wait action
/wait_node/result
/wait_node/cancel

Already logged (won't be logged by this):

Task executor:

/execute_policy_mode/Statistics - Scheduling stats, times etc?
/task_executor/events - ?
/current_schedule - Current schedule

Monitored nav:

/monitored_navigation/monitored_nav_event - (Already logged by Bruno?)
/monitored_navigation/srv_pause_requested - ?
/monitored_navigation/stuck_on_carpet - Stuck on carpet state
/monitored_navigation/pause_requested - Nav pause