ROS Topic List of the ‎Obstacle Traversal Dataset 2017

topics (irrelevant excluded):

• /cmd_vel : issued velocity commands
• /currents : currents to respective servos
• /dynamic_point_cloud : 3D pointcloud published every 3 seconds, colored by the
• /filtered_joint_states : joint angles, also available in /tf, filtered for noise and non-sense values
• /flipper_cmd : issued flipper angle commands
• /flippers_cmd : issued flipper angle commands, bundle of all four together
• /flippers_state : actual flipper state
• /imu/data : raw imu data (MTIG Xsens)
• /imu_odom : 3D odometry (gyro-odometry computed from tracks and IMU)
• /joint_states : joint angles
• /local_joy/cmd_vel : teleop commands translated from joy topic
• /local_joy/joy : joystick
• /odom : obsolete odometry, not used
• /scan : laser range-finder scan
• /scan_filtered : scan filtered for occlusions and with a below-20-cm distance correction
• /tactile_sensor_0 : flipper force sensor (front right)
• /tactile_sensor_1 : flipper force sensor (front left)
• /tactile_sensor_2 : flipper force sensor (rear left)
• /tactile_sensor_3 : flipper force sensor (rear right)
• /tf : transformations topic
• /tf_static : transformations topic
• /tracks_vel : tracks velocities
• /velocity : obsolete, not used