ROS Topics - Githubissues

sim2real@Ubuntu:~$ rostopic list -v

Published topics:

/rosout_agg [rosgraph_msgs/Log] 1 publisher
/rosout [rosgraph_msgs/Log] 6 publishers
/tf [tf2_msgs/TFMessage] 2 publishers
/image_view_rgb/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/image_view_rgb/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/image_view_rgb/output [sensor_msgs/Image] 1 publisher
/image_view_depth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
/image_view_depth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
/image_view_depth/output [sensor_msgs/Image] 1 publisher
/rgb [sensor_msgs/Image] 1 publisher
/third_rgb [sensor_msgs/Image] 1 publisher
/depth [sensor_msgs/Image] 1 publisher
/camera_info [sensor_msgs/CameraInfo] 1 publisher
/pointgoal_with_gps_compass [ros_x_habitat/PointGoalWithGPSCompass] 1 publisher
/ray [sensor_msgs/LaserScan] 1 publisher
/odom [nav_msgs/Odometry] 1 publisher
/gripper_state [geometry_msgs/Point] 1 publisher

Subscribed topics:

/rosout [rosgraph_msgs/Log] 1 subscriber
/rgb [sensor_msgs/Image] 1 subscriber
/depth [sensor_msgs/Image] 1 subscriber
/pointgoal_with_gps_compass [ros_x_habitat/PointGoalWithGPSCompass] 1 subscriber
/cmd_vel [geometry_msgs/Twist] 1 subscriber
/arm_gripper [geometry_msgs/Point] 1 subscriber
/arm_position [geometry_msgs/Pose] 1 subscriber
/cmd_position [geometry_msgs/Twist] 1 subscriber

sim2real@Ubuntu:~$ rostopic echo /camera_info -n1

header: 
  seq: 1
  stamp: 
    secs: 1644822262
    nsecs: 229177951
  frame_id: "laser"
height: 480
width: 848
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [617.305419921875, 0.0, 424.0, 0.0, 617.305419921875, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [617.3054000792732, 0.0, 424.0, 0.0, 0.0, 617.3054000792732, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

sim2real@Ubuntu:~$ rosnode info /base_frame_to_laser

Node [/base_frame_to_laser] Publications:

/rosout [rosgraph_msgs/Log]
/tf [tf2_msgs/TFMessage]

Subscriptions: None

Services:

/base_frame_to_laser/get_loggers
/base_frame_to_laser/set_logger_level

contacting node http://Ubuntu:34191/ ... Pid: 851 Connections:

topic: /rosout
- to: /rosout
- direction: outbound (40335 - 127.0.0.1:42980) [11]
- transport: TCPROS

AIR-DISCOVER / ICRA-RM-Sim2Real

ROS Topics #6

sim2real@Ubuntu:~$ rostopic echo /camera_info -n1

sim2real@Ubuntu:~$ rosnode info /base_frame_to_laser