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

    /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

Wiki: Robots/Volta/Topics (last edited 2021-03-31 03:16:44 by Botsync)