I found it hard to redo the tables in markdown, but that might be because of my MD-inexperience. Or if we can host this on a server that supports html parsing.
Score data from the currently running task. Only published when using VRC practice or final worlds. wall_time and sim_time are the elapsed wall and sim time durations from the beginning of the run; the 30 minutes/run limit is enforced on the sim_time value. wall_time_elapsed and sim_time_elapsed are the elapsed wall and sim time durations from when the robot passed the first gate (this event also triggers byte-counting on the router); scoring uses sim_time_elapsed. This score data should be considered unofficial; official results will be provided by DARPA.
How many downlink/uplink bytes remain for the currently running task. Only published when running in the practice or competition configuration, using cloud computing resources (it is published by the vrc_netwatcher, which runs on the router).
Data from the force-torque sensors on the feet (3-axis: z-linear force, x and y-axis torques. The remaining axis values are zeros.) and wrists (full 6-axis feedback). No noise added.
Changed in DRCSim 2.3.0. The current state of the robot; combines the data from /atlas/joint_states, /atlas/imu, and /atlas/force_torque_sensors. Note that the contents of the message changed with drcsim 2.3; the changes were made to make the message smaller than 1500 bytes to accommodate transport via UDP. Also, the topic name changed from /atlas/atlas_states to /atlas/atlas_state.
New in DRCSim 2.6.0. Data on the controller synchronization system. Only published if the most recently received command via /atlas/atlas_command includes a non-zero value for the desired_controller_period_ms field, indicating that synchronization has been requested (see the [synchronization tutorial](Tutorials/drcsim/2.6/controller synchronization))
Same as corresponding /multisense_sl/camera/left/image_raw.
Metadata from the left camera in the robot's head. More details on the components of the sensor_msgs/CameraInfo message can be found in CameraInfo Documentation. No noise added.
Same as corresponding /multisense_sl/camera/right/image_raw.
Metadata from the right camera in the robot's head. More details on the components of the sensor_msgs/CameraInfo message can be found in CameraInfo Documentation. No noise added.
Approximately less than 10Hz (limited by CPU load).
Camera data from the robot's head is fed into stereo_image_proc, which in turn publishes various topics. For more details on the various parameters and topics published by the stereo_image_proc, please see stereo_image_proc documentation.
New in DRCSim 2.6.0. Data from the tactile arrays in the robot's left hand. No noise added. See this spec sheet for tactile sensor locations on the hand. TactileRaw message fields: f0: index finger, f1: middle finger, f2: little finger, f3: thumb, palm: palm. Tactile sensors on finger have an array of size 18. Index 0~5 corresponds to bottom-half of finger, and index 6~17 corresponds to top half. The output value of each sensor is within the range from 26500 to 33500. The lower bound, 26500, means zero or minimal force feedback.
20 Hz (set in ros/atlas_msgs/ DRCVehicleROSPlugin.cpp)
Current state of key switch with 0: Off, 1: On, -1: Error state requiring direction switch to be placed in Neutral before gas torque can be applied. See the drc_vehicle tutorial and golf_cart tutorial.
osrf-migration
commented
9 years ago
Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).
ROS API User Guide tables do not display correctly in the new wiki.
I found it hard to redo the tables in markdown, but that might be because of my MD-inexperience. Or if we can host this on a server that supports html parsing.
Below is a partial convert with vi scripts...
/clock/rosout/rosout_agg/tf/tf_static/vrc_scorewall_timeandsim_timeare the elapsed wall and sim time durations from the beginning of the run; the 30 minutes/run limit is enforced on thesim_timevalue.wall_time_elapsedandsim_time_elapsedare the elapsed wall and sim time durations from when the robot passed the first gate (this event also triggers byte-counting on the router); scoring usessim_time_elapsed. This score data should be considered unofficial; official results will be provided by DARPA./vrc/bytes/remaining/downlinkvrc_netwatcher, which runs on the router)./atlas/controller_statisticsatlas_msgs/ControllerStatistics/atlas/force_torque_sensorsatlas_msgs/ForceTorqueSensors/atlas/imusensor_msgs/Imu/atlas/joint_statessensor_msgs/JointState/atlas/atlas_stateatlas_msgs/AtlasStateChanged in DRCSim 2.3.0.The current state of the robot; combines the data from/atlas/joint_states,/atlas/imu, and/atlas/force_torque_sensors. Note that the contents of the message changed with drcsim 2.3; the changes were made to make the message smaller than 1500 bytes to accommodate transport via UDP. Also, the topic name changed from/atlas/atlas_statesto/atlas/atlas_state./atlas/atlas_sim_interface_stateatlas_msgs/AtlasSimInterfaceState/atlas/synchronization_statisticsatlas_msgs/SynchronizationStatisticsNew in DRCSim 2.6.0.Data on the controller synchronization system. Only published if the most recently received command via/atlas/atlas_commandincludes a non-zero value for thedesired_controller_period_msfield, indicating that synchronization has been requested (see the [synchronization tutorial](Tutorials/drcsim/2.6/controller synchronization))/multisense_sl/imusensor_msgs/Imu/multisense_sl/joint_statessensor_msgs/JointState/multisense_sl/laser/scansensor_msgs/LaserScan/multisense_sl/camera/left/image_rawsensor_msgs/Image/multisense_sl/camera/left/camera_infosensor_msgs/CameraInfoCameraInfo Documentation. No noise added./multisense_sl/camera/right/image_rawsensor_msgs/Image/multisense_sl/camera/right/camera_infosensor_msgs/CameraInfoCameraInfo Documentation. No noise added./multisense_sl/camera/(various)stereo_image_procstereo_image_proc, which in turn publishes various topics. For more details on the various parameters and topics published by the stereo_image_proc, please seestereo_image_proc documentation./sandia_hands/l_hand/joint_statessensor_msgs/JointState/sandia_hands/l_hand/imusensor_msgs/Imu/sandia_hands/l_hand/tactile_rawsandia_hand_msgs/TactileRawNew in DRCSim 2.6.0.Data from the tactile arrays in the robot's left hand. No noise added. See this spec sheet for tactile sensor locations on the hand. TactileRaw message fields: f0: index finger, f1: middle finger, f2: little finger, f3: thumb, palm: palm. Tactile sensors on finger have an array of size 18. Index 0~5 corresponds to bottom-half of finger, and index 6~17 corresponds to top half. The output value of each sensor is within the range from 26500 to 33500. The lower bound, 26500, means zero or minimal force feedback./sandia_hands/l_hand/camera/left/image_rawsensor_msgs/Image/sandia_hands/l_hand/camera/left/camera_infosensor_msgs/CameraInfo/sandia_hands/l_hand/camera/right/image_rawsensor_msgs/Image/sandia_hands/l_hand/camera/right/camera_infosensor_msgs/CameraInfo/sandia_hands/l_hand/camera/(various)stereo_image_proc/sandia_hands/r_hand/joint_statessensor_msgs/JointState/sandia_hands/r_hand/imusensor_msgs/Imu/sandia_hands/r_hand/tactile_rawsandia_hand_msgs/TactileRaw/sandia_hands/r_hand/camera/left/image_rawsensor_msgs/Image/sandia_hands/r_hand/camera/left/camera_infosensor_msgs/CameraInfo/sandia_hands/r_hand/camera/right/image_rawsensor_msgs/Image/sandia_hands/r_hand/camera/right/camera_infosensor_msgs/CameraInfo/sandia_hands/r_hand/camera/(various)stereo_image_proc/atlas/debug/l_foot_contact,geometry_msgs/WrenchStamped/drc_vehicle/brake_pedal/state,std_msgs/Float64/drc_vehicle/direction/state,std_msgs/Int8/drc_vehicle/gas_pedal/state,std_msgs/Float64/drc_vehicle/hand_brake/state,std_msgs/Float64/drc_vehicle/hand_wheel/state,std_msgs/Float64/drc_vehicle/key/state,std_msgs/Int8/ground_truth_odomnav_msgs/Odometry