トピック・メッセージ一覧
主要トピック
ナビゲーションパイプライン
| トピック |
型 |
Publisher |
Subscriber |
QoS |
/sim_odom |
nav_msgs/Odometry |
Unity (TCP) |
odom_bridge |
reliable(10) |
/Odometry |
nav_msgs/Odometry |
FAST-LIO |
odom_bridge |
reliable(10) |
/odom |
nav_msgs/Odometry |
odom_bridge |
mppi, path_follower |
reliable(10) |
/start_pose |
geometry_msgs/PoseStamped |
odom_bridge |
path_planner |
reliable(10) |
/goal_pose |
geometry_msgs/PoseStamped |
RViz2 / behavior system |
path_planner, mppi |
reliable(10) |
/map |
nav_msgs/OccupancyGrid |
map_server |
path_planner |
transient_local(1) |
/costmap/global |
nav_msgs/OccupancyGrid |
map_server |
mppi |
transient_local(1) |
/costmap/local |
nav_msgs/OccupancyGrid |
costmap_builder |
mppi |
reliable |
/planned_path |
nav_msgs/Path |
path_planner |
mppi, path_follower |
reliable |
/cmd_vel_raw |
geometry_msgs/Twist |
mppi or path_follower |
cmd_vel_smoother |
reliable(10) |
/cmd_vel |
geometry_msgs/Twist |
cmd_vel_smoother |
body_controller |
reliable(10) |
センサ
| トピック |
型 |
Publisher |
Subscriber |
/livox/lidar |
sensor_msgs/PointCloud2 |
Livox Mid-360 |
costmap_builder |
/livox/lidar/no_self |
sensor_msgs/PointCloud2 |
costmap_builder |
(デバッグ) |
/lidar/points_filtered |
sensor_msgs/PointCloud2 |
costmap_builder |
(デバッグ) |
車体制御
| トピック |
型 |
Publisher |
Subscriber |
/can/tx |
core_msgs/CANArray |
body_controller |
core_hardware |
/system/emergency/hazard_status |
std_msgs/Bool |
(外部) |
body_controller |
/body_target_angle |
std_msgs/Float64 |
(外部) |
body_controller |
/body_omega |
std_msgs/Float64 |
body_controller |
(外部) |
/joint_states |
sensor_msgs/JointState |
core_hardware |
body_controller |
/goal_reached |
std_msgs/Bool |
mppi, path_follower |
(外部) |
敵検出
| トピック |
型 |
Publisher |
Subscriber |
raw_image/compressed |
sensor_msgs/Image |
カメラ |
target_detector |
damage_panels_infomation |
core_msgs/DamagePanelInfoArray |
target_detector |
target_selector |
damage_panel_pose |
geometry_msgs/PointStamped |
target_selector |
aim_bot |
シューター
| トピック |
型 |
Publisher |
Subscriber |
/left/shoot_once |
std_msgs/Bool |
wireless_parser |
shooter_cmd_gate |
/shoot_motor |
std_msgs/Bool |
wireless_parser |
shooter_cmd_gate |
/manual_mode |
std_msgs/Bool |
wireless_parser |
shooter_cmd_gate |
/manual_pitch |
std_msgs/Float32 |
wireless_parser |
shooter_cmd_gate |
/reloading |
std_msgs/Bool |
wireless_parser |
magazine_manager |
shoot_cmd |
std_msgs/Int32 |
shooter_controller |
(CAN) |
shoot_motor |
std_msgs/Float32 |
shooter_cmd_gate |
shooter_controller |
コントローラ入力
| トピック |
型 |
Publisher |
Subscriber |
/wireless |
std_msgs/UInt8MultiArray |
受信機 |
wireless_parser, diagnostic |
/rotation_flag |
std_msgs/Bool |
wireless_parser |
body_controller |
局在化（Localization）
| トピック |
型 |
Publisher |
Subscriber |
/cloud_registered |
sensor_msgs/PointCloud2 |
FAST-LIO |
localization_node |
/localization/pose |
geometry_msgs/PoseStamped |
localization_node |
(外部) |
/localization/aligned_cloud |
sensor_msgs/PointCloud2 |
localization_node |
(デバッグ) |
/localization/global_map |
sensor_msgs/PointCloud2 |
localization_node |
(デバッグ) |
/initialpose |
geometry_msgs/PoseWithCovarianceStamped |
RViz2 |
localization_node |
システム管理
| トピック |
型 |
Publisher |
Subscriber |
/system/emergency/hazard_status |
std_msgs/Bool |
emergency_handler |
body_controller, aim_bot |
/system/emergency/hazard_states |
std_msgs/Int8MultiArray |
emergency_handler |
(外部) |
/system/emergency/hazard_label |
std_msgs/String |
emergency_handler |
(外部) |
/emergency |
std_msgs/Bool |
ハードウェアスイッチ |
emergency_handler |
カスタムメッセージ（core_msgs）
CAN.msg
CANフレームの抽象化。id はモータID、data は指令値。
CANArray.msg
複数のCANメッセージをまとめて送信。
Path.msg
std_msgs/Header header
PoseWithWeight[] pose
重み付き経路。
PoseWithWeight.msg
geometry_msgs/Point position
geometry_msgs/Quaternion orientation
float64 distance_to_obstable
障害物までの距離情報を持つ姿勢。