Vladimír Kubelka - ROS Topic List of the ‎Obstacle Traversal Dataset 2017

/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