Fast Planner Topic Sub and Pub - Dieptranivsr/DroneIVSR GitHub Wiki

dieptran@dt:~$ rostopic list -v

Published topics:

 * /pcl_render_node/cloud [sensor_msgs/PointCloud2] 1 publisher
 * /map_generator/global_cloud [sensor_msgs/PointCloud2] 1 publisher
 * /odom_visualization/height [sensor_msgs/Range] 1 publisher
 * /planning/pos_cmd [quadrotor_msgs/PositionCommand] 1 publisher
 * /odom_visualization/path [nav_msgs/Path] 1 publisher
 * /map_generator/local_cloud [sensor_msgs/PointCloud2] 1 publisher
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher
 * /clicked_point [geometry_msgs/PointStamped] 1 publisher
 * /waypoint_generator/waypoints_vis [geometry_msgs/PoseArray] 1 publisher
 * /so3_disturbance_generator/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /force_disturbance [geometry_msgs/Vector3] 1 publisher
 * /pcl_render_node/local_map [sensor_msgs/PointCloud2] 1 publisher
 * /odom_visualization/covariance_velocity [visualization_msgs/Marker] 1 publisher
 * /sdf_map/update_range [visualization_msgs/Marker] 1 publisher
 * /move_base_simple/goal [geometry_msgs/PoseStamped] 1 publisher
 * /state_ukf/odom [nav_msgs/Odometry] 1 publisher
 * /moment_disturbance [geometry_msgs/Vector3] 1 publisher
 * /odom_visualization/covariance [visualization_msgs/Marker] 1 publisher
 * /waypoint_generator/waypoints [nav_msgs/Path] 1 publisher
 * /planning_vis/topo_path [visualization_msgs/Marker] 1 publisher
 * /planning_vis/visib_constraint [visualization_msgs/Marker] 1 publisher
 * /visual_slam/correction [geometry_msgs/PoseStamped] 1 publisher
 * /planning/replan [std_msgs/Empty] 1 publisher
 * /planning_vis/frontier [visualization_msgs/Marker] 1 publisher
 * /rosout [rosgraph_msgs/Log] 10 publishers
 * /planning_vis/prediction [visualization_msgs/Marker] 1 publisher
 * /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
 * /odom_visualization/trajectory [visualization_msgs/Marker] 1 publisher
 * /sdf_map/unknown [sensor_msgs/PointCloud2] 1 publisher
 * /odom_visualization/sensor [visualization_msgs/Marker] 1 publisher
 * /odom_visualization/velocity [visualization_msgs/Marker] 1 publisher
 * /planning_vis/trajectory [visualization_msgs/Marker] 1 publisher
 * /planning/new [std_msgs/Empty] 1 publisher
 * /sdf_map/occupancy [sensor_msgs/PointCloud2] 1 publisher
 * /sdf_map/esdf [sensor_msgs/PointCloud2] 1 publisher
 * /planning/bspline [plan_manage/Bspline] 1 publisher
 * /sdf_map/occupancy_inflate [sensor_msgs/PointCloud2] 1 publisher
 * /quadrotor_simulator_so3/imu [sensor_msgs/Imu] 1 publisher
 * /odom_visualization/robot [visualization_msgs/Marker] 1 publisher
 * /so3_disturbance_generator/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /planning/travel_traj [visualization_msgs/Marker] 1 publisher
 * /planning_vis/yaw [visualization_msgs/Marker] 1 publisher
 * /odom_visualization/pose [geometry_msgs/PoseStamped] 1 publisher
 * /tf [tf2_msgs/TFMessage] 1 publisher
 * /planning/position_cmd_vis [visualization_msgs/Marker] 1 publisher
 * /visual_slam/odom [nav_msgs/Odometry] 1 publisher
 * /so3_cmd [quadrotor_msgs/SO3Command] 1 publisher
 * /sdf_map/depth_cloud [sensor_msgs/PointCloud2] 1 publisher

Subscribed topics:

 * /pcl_render_node/cloud [sensor_msgs/PointCloud2] 1 subscriber
 * /map_generator/global_cloud [sensor_msgs/PointCloud2] 2 subscribers
 * /odom_visualization/robot_array [visualization_msgs/MarkerArray] 1 subscriber
 * /tf [tf2_msgs/TFMessage] 1 subscriber
 * /traj_start_trigger [geometry_msgs/PoseStamped] 1 subscriber
 * /force_disturbance [geometry_msgs/Vector3] 1 subscriber
 * /pcl_render_node/local_map [sensor_msgs/PointCloud2] 1 subscriber
 * /planning_vis/trajectory_array [visualization_msgs/MarkerArray] 1 subscriber
 * /odom_visualization/robot [visualization_msgs/Marker] 1 subscriber
 * /state_ukf/odom [nav_msgs/Odometry] 6 subscribers
 * /moment_disturbance [geometry_msgs/Vector3] 1 subscriber
 * /tf_static [tf2_msgs/TFMessage] 1 subscriber
 * /waypoint_generator/waypoints [nav_msgs/Path] 1 subscriber
 * /pcl_render_node/depth [sensor_msgs/Image] 1 subscriber
 * /planning/pos_cmd [quadrotor_msgs/PositionCommand] 1 subscriber
 * /planning/replan [std_msgs/Empty] 1 subscriber
 * /odom_visualization/cmd [quadrotor_msgs/PositionCommand] 1 subscriber
 * /pcl_render_node/camera_pose [geometry_msgs/PoseStamped] 1 subscriber
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /move_base_simple/goal [geometry_msgs/PoseStamped] 1 subscriber
 * /planning/position_cmd_vis_array [visualization_msgs/MarkerArray] 1 subscriber
 * /planning_vis/trajectory [visualization_msgs/Marker] 1 subscriber
 * /planning/new [std_msgs/Empty] 1 subscriber
 * /sdf_map/occupancy_inflate [sensor_msgs/PointCloud2] 1 subscriber
 * /planning/bspline [plan_manage/Bspline] 1 subscriber
 * /so3_control/imu [sensor_msgs/Imu] 1 subscriber
 * /motors [std_msgs/Bool] 1 subscriber
 * /corrections [quadrotor_msgs/Corrections] 1 subscriber
 * /planning/position_cmd_vis [visualization_msgs/Marker] 1 subscriber
 * /visual_slam/odom [nav_msgs/Odometry] 2 subscribers
 * /so3_cmd [quadrotor_msgs/SO3Command] 1 subscriber