Volta Topics

The available topics in Volta are listed below.

ROS Topics in Volta

• ROS Topic	Purpose
  /tf	All transforms between different ROS frames exisitng in the system
  /diagnostics	Topic contains detailed diagnostics information related to Volta power and battery status
  /diag_enable	A flag to start detailed diagnostics in Volta
  /rpm_pub	Contains RPM data published by ROS controller
  /rpm_sub	Contains RPM data read by encoders
  /cmd_vel	Command topic to move the robot. This topic is directly echoed to the firmware. The commands are issued using the twist_mux package. Please modify the twist_mux package set up in the Volta_control package to issue vehicle commands. Note: It is recommended to not directly issue commands to this topic.
  /nav/cmd_vel	Command topic for the navigation stack. This topic is configured as input to the twist_mux package
  /joy/cmd_vel	Command topic for the joystick commands. This topic is configured as input to the twist_mux package
  /keyboard/cmd_vel	Command topic for commands using keyboard commands. This topic is configured as input to the twist_mux package

Sensor Topics in Volta

• Sensor Topic	Purpose
  /keyboard/cmd_vel	Command topic for keyboard commands. The topic is configured as input to the twist_mux package
  /odometry/wheel	Odometry topic for odometry computed from the wheel encoders
  /odometry/filtered	Odometry topic for odometry computed from fusion of wheel encoder and IMU data
  /imu/data	Filtered IMU data
  /scan	Raw scan data received from the Lidar
  /scan_filtered	Filtered scan data limiting the range as received from the Lidar
  /camera/depth/image_rect_raw	Image rectified by intrinsic/ extrinsic parameters
  /camera/depth/camera_info	Camera’s intrinsic or extrinsic parameters
  /camera/depth/color/points	RGB Point Cloud