Copernicus Topics

ROS Topic

Purpose

/tf

All transforms between different ROS frames exisitng in the system

/bms

Current state of charge, voltage and current

/RPM_PUB

Contains RPM data published by ROS controller

/RPM_SUB

Contains RPM data read by encoders

/diagnostics_enable

Flag to enable the topic /copernicus_diagnostics

/copernicus_diagnostics

Topic contains diagnostic data from the Control Board

/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 copernicus_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 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