ros topic subcriber or publisher - Dieptranivsr/DroneIVSR GitHub Wiki

dieptran@dt:~$ rostopic list -v

Published topics:

 * /mavros/debug_value/named_value_float [mavros_msgs/DebugValue] 1 publisher
 * /mavros/manual_control/control [mavros_msgs/ManualControl] 1 publisher
 * /geometric_controller/path [nav_msgs/Path] 1 publisher
 * /mavros/mission/reached [mavros_msgs/WaypointReached] 1 publisher
 * /mavros/setpoint_raw/attitude [mavros_msgs/AttitudeTarget] 1 publisher
 * /mavros/global_position/raw/satellites [std_msgs/UInt32] 1 publisher
 * /mavros/setpoint_raw/target_local [mavros_msgs/PositionTarget] 1 publisher
 * /mavros/global_position/global [sensor_msgs/NavSatFix] 1 publisher
 * /mavros/target_actuator_control [mavros_msgs/ActuatorControl] 1 publisher
 * /mavlink/from [mavros_msgs/Mavlink] 1 publisher
 * /mavros/local_position/pose [geometry_msgs/PoseStamped] 1 publisher
 * /mavros/imu/data [sensor_msgs/Imu] 1 publisher
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /mavros/setpoint_trajectory/desired [nav_msgs/Path] 1 publisher
 * /gazebo/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /geometric_controller/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /camera/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /planning_vis/visib_constraint [visualization_msgs/Marker] 1 publisher
 * /planning/replan [std_msgs/Empty] 1 publisher
 * /mavros/px4flow/raw/optical_flow_rad [mavros_msgs/OpticalFlowRad] 1 publisher
 * /mavros/battery [sensor_msgs/BatteryState] 1 publisher
 * /mavros/mount_control/status [geometry_msgs/Vector3Stamped] 1 publisher
 * /planning_vis/prediction [visualization_msgs/Marker] 1 publisher
 * /planning_vis/frontier [visualization_msgs/Marker] 1 publisher
 * /mavros/mag_calibration/report [mavros_msgs/MagnetometerReporter] 1 publisher
 * /sdf_map/occupancy_inflate [sensor_msgs/PointCloud2] 1 publisher
 * /planning/bspline [plan_manage/Bspline] 1 publisher
 * /mavros/statustext/recv [mavros_msgs/StatusText] 1 publisher
 * /mavros/local_position/odom [nav_msgs/Odometry] 1 publisher
 * /reference/pose [geometry_msgs/PoseStamped] 1 publisher
 * /mavros/imu/temperature_imu [sensor_msgs/Temperature] 1 publisher
 * /mavros/gpsstatus/gps1/rtk [mavros_msgs/GPSRTK] 1 publisher
 * /mavros/global_position/raw/gps_vel [geometry_msgs/TwistStamped] 1 publisher
 * /camera/depth/points [sensor_msgs/PointCloud2] 1 publisher
 * /mavros/time_reference [sensor_msgs/TimeReference] 1 publisher
 * /mavros/rallypoint/waypoints [mavros_msgs/WaypointList] 1 publisher
 * /clicked_point [geometry_msgs/PointStamped] 1 publisher
 * /mavros/gpsstatus/gps1/raw [mavros_msgs/GPSRAW] 1 publisher
 * /mavros/altitude [mavros_msgs/Altitude] 1 publisher
 * /mavros/mission/waypoints [mavros_msgs/WaypointList] 1 publisher
 * /gazebo/model_states [gazebo_msgs/ModelStates] 1 publisher
 * /sdf_map/update_range [visualization_msgs/Marker] 1 publisher
 * /mavros/setpoint_raw/target_global [mavros_msgs/GlobalPositionTarget] 1 publisher
 * /geometric_controller/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /planning/ref_traj [quadrotor_msgs/PositionCommand] 1 publisher
 * /command/trajectory [trajectory_msgs/MultiDOFJointTrajectory] 1 publisher
 * /mavros/log_transfer/raw/log_entry [mavros_msgs/LogEntry] 1 publisher
 * /sdf_map/occupancy [sensor_msgs/PointCloud2] 1 publisher
 * /camera/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /mavros/px4flow/ground_distance [sensor_msgs/Range] 1 publisher
 * /mavros/px4flow/temperature [sensor_msgs/Temperature] 1 publisher
 * /planning_vis/topo_path [visualization_msgs/Marker] 1 publisher
 * /mavros/esc_info [mavros_msgs/ESCInfo] 1 publisher
 * /odometry [nav_msgs/Odometry] 1 publisher
 * /mavros/global_position/rel_alt [std_msgs/Float64] 1 publisher
 * /mavros/imu/temperature_baro [sensor_msgs/Temperature] 1 publisher
 * /mavros/extended_state [mavros_msgs/ExtendedState] 1 publisher
 * /mavros/local_position/velocity_local [geometry_msgs/TwistStamped] 1 publisher
 * /mavros/gpsstatus/gps2/rtk [mavros_msgs/GPSRTK] 1 publisher
 * /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
 * /mavros/home_position/home [mavros_msgs/HomePosition] 1 publisher
 * /planning/position_cmd_vis [visualization_msgs/Marker] 1 publisher
 * /gazebo/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /mavros/log_transfer/raw/log_data [mavros_msgs/LogData] 1 publisher
 * /camera/rgb/image_raw [sensor_msgs/Image] 1 publisher
 * /mavros/param/param_value [mavros_msgs/Param] 1 publisher
 * /waypoint_generator/waypoints [nav_msgs/Path] 1 publisher
 * /mavros/local_position/velocity_body [geometry_msgs/TwistStamped] 1 publisher
 * /mavros/imu/diff_pressure [sensor_msgs/FluidPressure] 1 publisher
 * /tf [tf2_msgs/TFMessage] 3 publishers
 * /mavros/radio_status [mavros_msgs/RadioStatus] 1 publisher
 * /mavros/gpsstatus/gps2/raw [mavros_msgs/GPSRAW] 1 publisher
 * /mavros/companion_process/status [mavros_msgs/CompanionProcessStatus] 1 publisher
 * /mavros/battery2 [sensor_msgs/BatteryState] 1 publisher
 * /mavros/hil/actuator_controls [mavros_msgs/HilActuatorControls] 1 publisher
 * /mavros/nav_controller_output [mavros_msgs/NavControllerOutput] 1 publisher
 * /mavlink/gcs_ip [std_msgs/String] 1 publisher
 * /mavros/wind_estimation [geometry_msgs/TwistWithCovarianceStamped] 1 publisher
 * /tf_static [tf2_msgs/TFMessage] 1 publisher
 * /mavros/estimator_status [mavros_msgs/EstimatorStatus] 1 publisher
 * /diagnostics [diagnostic_msgs/DiagnosticArray] 1 publisher
 * /mavros/global_position/raw/fix [sensor_msgs/NavSatFix] 1 publisher
 * /mavros/landing_target/pose_in [geometry_msgs/PoseStamped] 1 publisher
 * /mavros/debug_value/named_value_int [mavros_msgs/DebugValue] 1 publisher
 * /mavros/imu/data_raw [sensor_msgs/Imu] 1 publisher
 * /mavros/cam_imu_sync/cam_imu_stamp [mavros_msgs/CamIMUStamp] 1 publisher
 * /mavros/debug_value/debug [mavros_msgs/DebugValue] 1 publisher
 * /mavros/global_position/local [nav_msgs/Odometry] 1 publisher
 * /camera/pose [geometry_msgs/PoseStamped] 1 publisher
 * /sdf_map/unknown [sensor_msgs/PointCloud2] 1 publisher
 * /mavros/imu/mag [sensor_msgs/MagneticField] 1 publisher
 * /mavros/imu/static_pressure [sensor_msgs/FluidPressure] 1 publisher
 * /mavros/vfr_hud [mavros_msgs/VFR_HUD] 1 publisher
 * /planning/new [std_msgs/Empty] 1 publisher
 * /mavros/esc_telemetry [mavros_msgs/ESCTelemetry] 1 publisher
 * /planning/travel_traj [visualization_msgs/Marker] 1 publisher
 * /mavros/odometry/in [nav_msgs/Odometry] 1 publisher
 * /mavros/hil/controls [mavros_msgs/HilControls] 1 publisher
 * /mavros/local_position/velocity_body_cov [geometry_msgs/TwistWithCovarianceStamped] 1 publisher
 * /mavros/gps_rtk/rtk_baseline [mavros_msgs/RTKBaseline] 1 publisher
 * /sdf_map/depth_cloud [sensor_msgs/PointCloud2] 1 publisher
 * /mavros/esc_status [mavros_msgs/ESCStatus] 1 publisher
 * /mavros/landing_target/lt_marker [geometry_msgs/Vector3Stamped] 1 publisher
 * /mavros/local_position/pose_cov [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
 * /mavros/adsb/vehicle [mavros_msgs/ADSBVehicle] 1 publisher
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher
 * /waypoint_generator/waypoints_vis [geometry_msgs/PoseArray] 1 publisher
 * /mavros/setpoint_position/local [geometry_msgs/PoseStamped] 1 publisher
 * /mavros/global_position/compass_hdg [std_msgs/Float64] 1 publisher
 * /mavros/timesync_status [mavros_msgs/TimesyncStatus] 1 publisher
 * /camera/depth/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /move_base_simple/goal [geometry_msgs/PoseStamped] 1 publisher
 * /clock [rosgraph_msgs/Clock] 1 publisher
 * /mavros/global_position/gp_lp_offset [geometry_msgs/PoseStamped] 1 publisher
 * /mavros/global_position/gp_origin [geographic_msgs/GeoPointStamped] 1 publisher
 * /mavros/geofence/waypoints [mavros_msgs/WaypointList] 1 publisher
 * /mavros/setpoint_raw/target_attitude [mavros_msgs/AttitudeTarget] 1 publisher
 * /mavros/mount_control/orientation [geometry_msgs/Quaternion] 1 publisher
 * /mavros/trajectory/desired [mavros_msgs/Trajectory] 1 publisher
 * /mavros/state [mavros_msgs/State] 1 publisher
 * /rosout [rosgraph_msgs/Log] 13 publishers
 * /mavros/rc/in [mavros_msgs/RCIn] 1 publisher
 * /planning_vis/yaw [visualization_msgs/Marker] 1 publisher
 * /camera/depth/image_raw [sensor_msgs/Image] 1 publisher
 * /planning_vis/trajectory [visualization_msgs/Marker] 1 publisher
 * /mavros/local_position/accel [geometry_msgs/AccelWithCovarianceStamped] 1 publisher
 * /sdf_map/esdf [sensor_msgs/PointCloud2] 1 publisher
 * /gazebo/link_states [gazebo_msgs/LinkStates] 1 publisher
 * /mavros/mag_calibration/status [std_msgs/UInt8] 1 publisher
 * /mavros/rc/out [mavros_msgs/RCOut] 1 publisher
 * /mavros/debug_value/debug_vector [mavros_msgs/DebugValue] 1 publisher

Subscribed topics:

 * /pcl_render_node/cloud [sensor_msgs/PointCloud2] 1 subscriber
 * /mavros/landing_target/pose [geometry_msgs/PoseStamped] 1 subscriber
 * /mavros/actuator_control [mavros_msgs/ActuatorControl] 1 subscriber
 * /mavros/setpoint_raw/global [mavros_msgs/GlobalPositionTarget] 1 subscriber
 * /mavros/hil/optical_flow [mavros_msgs/OpticalFlowRad] 1 subscriber
 * /mavros/global_position/set_gp_origin [geographic_msgs/GeoPointStamped] 1 subscriber
 * /mavros/statustext/send [mavros_msgs/StatusText] 1 subscriber
 * /planning/position_cmd_vis_array [visualization_msgs/MarkerArray] 1 subscriber
 * /mavros/setpoint_attitude/cmd_vel [geometry_msgs/TwistStamped] 1 subscriber
 * /tf [tf2_msgs/TFMessage] 3 subscribers
 * /mavros/rc/override [mavros_msgs/OverrideRCIn] 1 subscriber
 * /mavros/setpoint_raw/attitude [mavros_msgs/AttitudeTarget] 1 subscriber
 * /mavros/hil/state [mavros_msgs/HilStateQuaternion] 1 subscriber
 * /mavros/global_position/home [mavros_msgs/HomePosition] 1 subscriber
 * /mavros/setpoint_velocity/cmd_vel [geometry_msgs/TwistStamped] 1 subscriber
 * /mavros/hil/gps [mavros_msgs/HilGPS] 1 subscriber
 * /camera/rgb/image_raw [sensor_msgs/Image] 1 subscriber
 * /mavros/mount_control/command [mavros_msgs/MountControl] 1 subscriber
 * /mavros/debug_value/send [mavros_msgs/DebugValue] 1 subscriber
 * /mavros/hil/imu_ned [mavros_msgs/HilSensor] 1 subscriber
 * /planning_vis/trajectory_array [visualization_msgs/MarkerArray] 1 subscriber
 * /mavros/companion_process/status [mavros_msgs/CompanionProcessStatus] 1 subscriber
 * /mavros/manual_control/send [mavros_msgs/ManualControl] 1 subscriber
 * /move_base_simple/goal [geometry_msgs/PoseStamped] 1 subscriber
 * /gazebo/set_link_state [gazebo_msgs/LinkState] 1 subscriber
 * /reference/yaw [std_msgs/Float32] 1 subscriber
 * /mavros/mocap/pose [geometry_msgs/PoseStamped] 1 subscriber
 * /mavros/local_position/pose [geometry_msgs/PoseStamped] 3 subscribers
 * /mavros/vision_speed/speed_twist_cov [geometry_msgs/TwistWithCovarianceStamped] 1 subscriber
 * /mavros/setpoint_position/local [geometry_msgs/PoseStamped] 1 subscriber
 * /mavros/hil/rc_inputs [mavros_msgs/RCIn] 1 subscriber
 * /tf_static [tf2_msgs/TFMessage] 3 subscribers
 * /mavros/global_position/global [sensor_msgs/NavSatFix] 1 subscriber
 * /mavros/vision_pose/pose_cov [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
 * /planning/ref_traj [quadrotor_msgs/PositionCommand] 1 subscriber
 * /mavros/gps_input/gps_input [mavros_msgs/GPSINPUT] 1 subscriber
 * /command/trajectory [trajectory_msgs/MultiDOFJointTrajectory] 1 subscriber
 * /mavros/trajectory/generated [mavros_msgs/Trajectory] 1 subscriber
 * /mavros/fake_gps/mocap/tf [geometry_msgs/TransformStamped] 1 subscriber
 * /traj_start_trigger [geometry_msgs/PoseStamped] 1 subscriber
 * /mavlink/to [mavros_msgs/Mavlink] 1 subscriber
 * /planning/replan [std_msgs/Empty] 1 subscriber
 * /mavros/odometry/out [nav_msgs/Odometry] 1 subscriber
 * /mavros/state [mavros_msgs/State] 1 subscriber
 * /map_generator/global_cloud [sensor_msgs/PointCloud2] 1 subscriber
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /mavros/setpoint_raw/local [mavros_msgs/PositionTarget] 1 subscriber
 * /camera/depth/image_raw [sensor_msgs/Image] 1 subscriber
 * /camera/pose [geometry_msgs/PoseStamped] 1 subscriber
 * /mavros/obstacle/send [sensor_msgs/LaserScan] 1 subscriber
 * /mavros/play_tune [mavros_msgs/PlayTuneV2] 1 subscriber
 * /mavros/vision_pose/pose [geometry_msgs/PoseStamped] 1 subscriber
 * /mavros/px4flow/raw/send [mavros_msgs/OpticalFlowRad] 1 subscriber
 * /mavros/setpoint_position/global [geographic_msgs/GeoPoseStamped] 1 subscriber
 * /planning/new [std_msgs/Empty] 1 subscriber
 * /sdf_map/occupancy_inflate [sensor_msgs/PointCloud2] 1 subscriber
 * /reference/flatsetpoint [controller_msgs/FlatTarget] 1 subscriber
 * /mavros/gps_rtk/send_rtcm [mavros_msgs/RTCM] 1 subscriber
 * /mavros/setpoint_position/global_to_local [geographic_msgs/GeoPoseStamped] 1 subscriber
 * /planning/bspline [plan_manage/Bspline] 1 subscriber
 * /mavros/setpoint_attitude/thrust [mavros_msgs/Thrust] 1 subscriber
 * /gazebo/set_model_state [gazebo_msgs/ModelState] 1 subscriber
 * /mavros/setpoint_accel/accel [geometry_msgs/Vector3Stamped] 1 subscriber
 * /camera/depth/points [sensor_msgs/PointCloud2] 1 subscriber
 * /mavros/local_position/odom [nav_msgs/Odometry] 3 subscribers
 * /mavros/onboard_computer/status [mavros_msgs/OnboardComputerStatus] 1 subscriber
 * /mavros/local_position/velocity_local [geometry_msgs/TwistStamped] 1 subscriber
 * /reference/setpoint [geometry_msgs/TwistStamped] 1 subscriber
 * /clock [rosgraph_msgs/Clock] 14 subscribers
 * /planning_vis/trajectory [visualization_msgs/Marker] 1 subscriber
 * /mavros/trajectory/path [nav_msgs/Path] 1 subscriber
 * /planning/position_cmd_vis [visualization_msgs/Marker] 1 subscriber
 * /mavros/setpoint_velocity/cmd_vel_unstamped [geometry_msgs/Twist] 1 subscriber
 * /mavros/adsb/send [mavros_msgs/ADSBVehicle] 1 subscriber
 * /waypoint_generator/waypoints [nav_msgs/Path] 1 subscriber
 * /mavros/setpoint_trajectory/local [trajectory_msgs/MultiDOFJointTrajectory] 1 subscriber
 * /mavros/home_position/set [mavros_msgs/HomePosition] 1 subscriber