The available topics in Volta are listed below.
ROS Topics in Volta
All transforms between different ROS frames exisitng in the system
Current state of charge, voltage and current
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 Volta_control package to issue vehicle commands.
Note: It is recommended to not directly issue commands to this topic.
The speed as read by the encoders
Command topic for the navigation stack. This topic is configured as input to the twist_mux package
Command topic for the joystick commands. This topic is configured as input to the twist_mux package
Sensor Topics in Volta
Command topic for keyboard commands. The topic is configured as input to the twist_mux package
Odometry topic for odometry computed from the wheel encoders
Odometry topic for odometry computed from fusion of wheel encoder and IMU data
Filtered IMU data
Roll, pitch, yaw angles from the IMU
Filtered magnetometer data from the IMU (Inactive by Default)
Temperature of the IMU sensor received in degrees centigrade
Raw scan data received from the Lidar
Filtered scan data limiting the range as received from the Lidar
Raw Images received from the camera
Image rectified by intrinsic or extrinsic parameters
Camera’s intrinsic or extrinsic parameters
Point cloud without color information
XYZ and RGB point cloud