System Overview

Camera

topic	msg	hw	gz
/[namespace]/camera_front/camera_info	sensor_msgs/msg/CameraInfo	✅	✅
/[namespace]/camera_front/image/compressed	sensor_msgs/msg/CompressedImage	✅	✅

Sensors

topic	msg	hw	gz
/[namespace]/battery_state_broadcaster/battery_state	sensor_msgs/msg/BatteryState	✅	❌
/[namespace]/button_state	std_msgs/msg/Bool	✅	❌
/[namespace]/imu_sensor_broadcaster/imu	sensor_msgs/msg/Imu	✅	✅
/[namespace]/imu_sensor_broadcaster/imu/filtered	sensor_msgs/msg/Imu	✅	✅
/[namespace]/tof/front/range	sensor_msgs/msg/LaserScan	✅	✅

Control and Movement

topic	msg	hw	gz
/[namespace]/diff_drive_base_controller/cmd_vel	geometry_msgs/msg/Twist	✅	✅
/[namespace]/diff_drive_base_controller/odom	nav_msgs/msg/Odometry	✅	✅
/[namespace]/odometry/filtered	nav_msgs/msg/Odometry	✅	✅

topic	msg	hw	gz
/[namespace]/dynamic_joint_states	control_msgs/msg/DynamicJointState	✅	✅
/[namespace]/joint_states	sensor_msgs/msg/JointState	✅	✅

LEDs

topic	msg	hw	gz
/[namespace]/led/front_left/get	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/front_left/set	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/front_right/get	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/front_right/set	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/rear_left/get	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/rear_left/set	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/rear_right/get	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/rear_right/set	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/top/get	std_msgs/msg/ColorRGBA*	✅	✅
/[namespace]/led/top/set	std_msgs/msg/ColorRGBA*	✅	✅

• ColorRGBA contains four float32 fields: r, g, b, and a. The range goes from 0 to 100 for all fields.

topic	msg	hw	gz
/[namespace]/robot_description	std_msgs/msg/String	✅	✅
/clock	rosgraph_msgs/msg/Clock	❌	✅