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ROS 2 Interface Guide

This page documents the ROS 2 topics, services, and message types for the GORM rover.

NOTE: Please update this documentation if you discover new topics or services, or if existing ones change.

Core Topics

Control & Navigation

TopicMessage TypeDescription
/cmd_velgeometry_msgs/TwistPrimary velocity command for rover motion
/goal_posegeometry_msgs/PoseStampedNavigation goal for autonomous systems
/motor_commandsstd_msgs/Float64MultiArrayLow-level commands for the 6-wheel, 4-steer system

Localization & Odometry

TopicMessage TypeDescription
/odomnav_msgs/OdometryOdometry data for pose estimation
/amcl_posegeometry_msgs/PoseWithCovarianceStampedRobot pose from the AMCL localization system
/tftf2_msgs/TFMessageDynamic and static coordinate transforms
/tf_statictf2_msgs/TFMessageStatic coordinate transforms

Teleoperation

TopicMessage TypeDescription
/joysensor_msgs/JoyRaw joystick input for manual control

Sensor Topics

ZED Camera (Front)

TopicMessage TypeDescription
/zed_front/zed/depth/depth_registeredsensor_msgs/ImageRegistered depth image
/zed_front/zed/rgb/image_rect_colorsensor_msgs/ImageRectified color image
/zed_front/zed/rgb/image_rect_color/compressedsensor_msgs/CompressedImageCompressed color image for web streaming
/zed_front/zed/point_cloud/cloud_registeredsensor_msgs/PointCloud2Registered 3D point cloud
/zed_front/zed/imu/datasensor_msgs/ImuIMU data from the camera
/zed_front/zed/posegeometry_msgs/PoseWithCovarianceStampedVisual odometry pose from the camera

GNSS (if enabled)

TopicMessage TypeDescription
/zed_front/zed/fixsensor_msgs/NavSatFixGNSS position data from ZED camera fusion

U-blox GNSS

TopicMessage TypeDescription
/diagnosticsdiagnostic_msgs/DiagnosticArrayDiagnostic information from the U-blox driver
/fixsensor_msgs/NavSatFixGNSS position fix
/fix_velocitygeometry_msgs/TwistWithCovarianceStampedGNSS velocity information
/navclockublox_msgs/NavCLOCKNavigation clock solution
/navinfoublox_msgs/NavINFONavigation information
/navposecefublox_msgs/NavPOSECEFPosition solution in ECEF coordinates
/navposllhublox_msgs/NavPOSLLHPosition solution in geodetic coordinates
/navsolublox_msgs/NavSOLNavigation solution information
/navstatusublox_msgs/NavSTATUSNavigation status
/navvelnedublox_msgs/NavVELNEDVelocity solution in NED frame
/parameter_eventsrcl_interfaces/msg/ParameterEventU-blox node parameter updates

Services

Motor Control

ServiceService TypeDescription
/start_motorsstd_srvs/srv/TriggerInitializes and enables all motors
/shutdown_motorsstd_srvs/srv/TriggerSafely disables all motors

Key Message Types

  • geometry_msgs/Twist: Linear and angular velocity
  • geometry_msgs/PoseStamped: Position and orientation with a timestamp
  • sensor_msgs/Image: Raw image data
  • sensor_msgs/CompressedImage: Compressed image for low-bandwidth streaming
  • sensor_msgs/PointCloud2: 3D point cloud
  • sensor_msgs/Joy: Joystick button and axis states
  • nav_msgs/Odometry: Estimated pose and velocity
  • std_srvs/srv/Trigger: Standard service for simple actions

Topic Conventions

  • Global Topics: Core topics like /cmd_vel and /odom are in the global namespace.
  • Namespacing: Sensors are namespaced by their position (e.g., /zed_front).
  • Standardization: Follows ROS REP-105 for common topic names.