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#: Explained Topic
**: Frequently Used Topic
[ ]: Message Type
( ): Subscriber in Publisher, Publisher in Subscriber to see Subscriber/Publisher topics at a glance

Frequently Used Topics

Publisher

/airsim_node/drone_1/front_center_custom/Scene [sensor_msgs/Image]
/simulation/depth_image [sensor_msgs/Image]

/mavros:
 #state[mavros_msgs/state],
 #battery[sensor_msgs/BatteryState],
 #extended_state[mavros_msgs/ExtendedState],
  home_position/
    home[mavros_msgs/HomePosition]
    (set)
 #local_position/
    accel[geometry_msgs/AccelWithCovarianceStamped],
    odom[nav_msgs/Odometry],
   #pose[geometry_msgs/PoseStamped],
    pose_cov[geometry_msgs/PoseWithCovarianceStamped],
    velocity_body[geometry_msgs/TwistStamped],
    velocity_body_cov[geometry_msgs/TwistWithCovarianceStamped],
    velocity_local[geometry_msgs/TwistStamped]
    (pose)
 #global_position/
   #compass_hdg[std_msgs/Float64],
   #global[sensor_msgs/NavSatFix],
    gp_lp_offset[geometry_msgs/PoseStamped],
    gp_origin[geographic_msgs/GeoPointStamped],
   #local[nav_msgs/Odometry],
   #rel_alt[std_msgs/Float64],
   #raw/
     #fix[sensor_msgs/NavSatFix],
     #gps_vel[geometry_msgs/TwistStamped],
      satellites[std_msgs/UInt32]
    (global)
    (home)
    (set_gp_origin)
 #imu/
   #data[sensor_msgs/Imu],
   #data_raw[sensor_msgs/Imu],
    diff_pressure[sensor_msgs/FluidPressure],
    static_pressure[sensor_msgs/FluidPressure],
   #mag[sensor_msgs/MagneticField],
   #temperature_baro[sensor_msgs/Temperature],
    temperature_imu[sensor_msgs/Temperature]

Subscriber

/mavros:
  local_position/
    (accel)
    (odom)
    (pose)
    (pose_cov)
    (velocity_body)
    (velocity_body_cov)
    (velocity_local)
    pose[geometry_msgs/PoseStamped]
  global_position/
    (compass_hdg)
    (global)
    (gp_lp_offset)
    (gp_origin)
    (local)
    (rel_alt)
    (raw/)
      (fix)
      (gps_vel)
      (satellites)
    global[sensor_msgs/NavSatFix],
    home[mavros_msgs/HomePosition],
    set_gp_origin[geographic_msgs/GeoPointStamped]
  home_position/
    (home)
    set[mavros_msgs/HomePosition]
 #setpoint_accel/accel[geometry_msgs/Vector3Stamped],
 #setpoint_attitude/
   #cmd_vel[geometry_msgs/TwistStamped],
   #thrust[mavros_msgs/Thrust]
 #setpoint_position/
   #global[geographic_msgs/GeoPoseStamped],
    global_to_local[geographic_msgs/GeoPoseStamped],
** #local[geometry_msgs/PoseStamped]
 #setpoint_raw/
   #attitude[mavros_msgs/AttitudeTarget],
   #global[mavros_msgs/GlobalPositionTarget],
   #local[mavros_msgs/PositionTarget]
  setpoint_trajectory/local[trajectory_msgs/MultiDOFJointTrajectory],
 #setpoint_velocity/
    cmd_vel[geometry_msgs/TwistStamped],
   #cmd_vel_unstamped[geometry_msgs/Twist]

All Topics

airsim/airsim_node

Publisher

/airsim_node:
 #origin_geo_point[airsim_ros_pkgs/GPSYaw],
 #drone_1/
   #altimeter/Barometer[airsim_ros_pkgs/Altimeter],
    environment[airsim_ros_pkgs/Environment],
   #global_gps[sensor_msgs/NavSatFix],
    gps/Gps[sensor_msgs/NavSatFix],
   #imu/Imu[sensor_msgs/Imu],
   #magnetometer/Magnetometer[sensor_msgs/MagneticField],
   #odom_local_ned[nav_msgs/Odometry],
   #front_center_custom/
     #DepthPerspective/
       #camera_info[sensor_msgs/CameraInfo],
       #.[sensor_msgs/Image: > /image_pub],
       #compressed/{., parameter_descriptions, parameter_updates},
       #compressedDepth/{., parameter_descriptions, parameter_updates},
       #theora/{., parameter_descriptions, parameter_updates}
     #Scene/
        #camera_info[sensor_msgs/CameraInfo],
**      #.[sensor_msgs/Image],
        #compressed/{., parameter_descriptions, parameter_updates},
        #compressedDepth/{., parameter_descriptions, parameter_updates},
        #theora/{., parameter_descriptions, parameter_updates}

Subscriber

/airsim_node:
 #gimbal_angle_euler_cmd[airsim_ros_pkgs/GimbalAngleEulerCmd],
 #gimbal_angle_quat_cmd[airsim_ros_pkgs/GimbalAngleQuatCmd],
  drone_1/
   #vel_cmd_body_frame[airsim_ros_pkgs/VelCmd],
   #vel_cmd_world_frame[airsim_ros_pkgs/VelCmd]

depth_noise/image_pub

Publisher

/simulation/depth_image:
**#.[sensor_msgs/Image],
  compressed/{., parameter_descriptions, parameter_updates},
  compressedDepth/{., parameter_descriptions, parameter_updates},
  theora/{., parameter_descriptions, parameter_updates}

Subscriber

/airsim_node:
  drone_1/
    front_center_custom/
      DepthPerspective/
        .[sensor_msgs/Image:/airsim_node > ]

mavros/mavros_node

Publisher

/mavros:
  adsb/
    vehicle[mavros_msgs/ADSBVehicle]
    (send)
  altitude[mavros_msgs/Altitude],
 #cam_imu_sync/cam_imu_stamp[mavros_msgs/CamIMUStamp],
  debug_value/
    debug[mavros_msgs/DebugValue],
    debug_vector[mavros_msgs/DebugValue],
    named_value_float[mavros_msgs/DebugValue],
    named_value_int[mavros_msgs/DebugValue]
    (send)
  esc_info[mavros_msgs/ESCInfo],
  esc_status[mavros_msgs/ESCStatus],
  estimator_status[mavros_msgs/EstimatorStatus],
  geofence/waypoints[mavros_msgs/WaypointList],
  gps_rtk/
    rtk_baseline[mavros_msgs/RTKBaseline]
    (send_rtcm)
  gpsstatus/
    gps1/
      raw[mavros_msgs/GPSRAW],
      rtk[mavros_msgs/GPSRTK]
    gps2/
      raw[mavros_msgs/GPSRAW],
      rtk[mavros_msgs/GPSRTK]
 #hil/
    actuator_controls[mavros_msgs/HilActuatorControls],
   #controls[mavros_msgs/HilControls]
    (gps)
    (imu_ned)
    (optical_flow)
    (rc_inputs)
    (state)
  landing_target/
    lt_marker[geometry_msgs/Vector3Stamped],
    pose_in[geometry_msgs/PoseStamped]
    (pose)
  log_transfer/
    raw/
      log_data[mavros_msgs/LogData],
      log_entry[mavros_msgs/LogEntry]
 #manual_control/
   #control[mavros_msgs/ManualControl]
    (send)
 #mission/
   #reached[mavros_msgs/WaypointReached],
   #waypoints[mavros_msgs/WaypointList]
  mount_control/
    orientation[geometry_msgs/Quaternion]
    (command)
  odometry/
    in[nav_msgs/Odometry]
    (out)
  param/param_value[mavros_msgs/Param],
 #px4flow/
   #ground_distance[sensor_msgs/Range],
   #temperature[sensor_msgs/Temperature],
   #raw/
     #optical_flow_rad[mavros_msgs/OpticalFlowRad]
      (send)
 #radio_status[mavros_msgs/RadioStatus],
  rallypoint/waypoints[mavros_msgs/WaypointList],
 #rc/
   #in[mavros_msgs/RCIn],
   #out[mavros_msgs/RCOut]
    (override)
 #setpoint_raw/
   #target_attitude[mavros_msgs/AttitudeTarget],
   #target_global[mavros_msgs/GlobalPositionTarget],
   #target_local[mavros_msgs/PositionTarget]
    (attitude)
    (global)
    (local)
  setpoint_trajectory/
    desired[nav_msgs/Path]
    (local)
  statustext/
    recv[mavros_msgs/StatusText]
    (send)
  target_actuator_control[mavros_msgs/ActuatorControl],
 #time_reference[sensor_msgs/TimeReference],
  timesync_status[mavros_msgs/TimesyncStatus],
  trajectory/
    desired[mavros_msgs/Trajectory]
    (generated)
    (path)
 #vfr_hud[mavros_msgs/VFR_HUD],
 #wind_estimation[geometry_msgs/TwistWithCovarianceStamped],
**
**#state[mavros_msgs/state],
 #battery[sensor_msgs/BatteryState],
 #extended_state[mavros_msgs/ExtendedState],
  home_position/
    home[mavros_msgs/HomePosition]
    (set)
 #local_position/
    accel[geometry_msgs/AccelWithCovarianceStamped],
    odom[nav_msgs/Odometry],
   #pose[geometry_msgs/PoseStamped],
    pose_cov[geometry_msgs/PoseWithCovarianceStamped],
    velocity_body[geometry_msgs/TwistStamped],
    velocity_body_cov[geometry_msgs/TwistWithCovarianceStamped],
    velocity_local[geometry_msgs/TwistStamped]
    (pose)
 #global_position/
   #compass_hdg[std_msgs/Float64],
   #global[sensor_msgs/NavSatFix],
    gp_lp_offset[geometry_msgs/PoseStamped],
    gp_origin[geographic_msgs/GeoPointStamped],
   #local[nav_msgs/Odometry],
   #rel_alt[std_msgs/Float64],
   #raw/
     #fix[sensor_msgs/NavSatFix],
     #gps_vel[geometry_msgs/TwistStamped],
      satellites[std_msgs/UInt32]
    (global)
    (home)
    (set_gp_origin)
 #imu/
   #data[sensor_msgs/Imu],
   #data_raw[sensor_msgs/Imu],
    diff_pressure[sensor_msgs/FluidPressure],
    static_pressure[sensor_msgs/FluidPressure],
   #mag[sensor_msgs/MagneticField],
   #temperature_baro[sensor_msgs/Temperature],
    temperature_imu[sensor_msgs/Temperature]

Subscriber

/mavros[ > /mavros]:
 #actuator_control[mavros_msgs/ActuatorControl],
  adsb/
    (vehicle)
    send[mavros_msgs/ADSBVehicle]
  companion_process/status[mavros_msgs/CompanionProcessStatus],
  debug_value/
    (debug)
    (debug_vector)
    (named_value_float)
    (named_value_int)
    send[mavros_msgs/DebugValue]
  fake_gps/mocap/tf[geometry_msgs/TransformStamped],
  gps_rtk/
    (rtk_baseline)
    send_rtcm[mavros_msgs/RTCM]
  hil/
    (actuator_controls)
    (controls)
    gps[mavros_msgs/HilGPS],
    imu_ned[mavros_msgs/HilSensor],
    optical_flow[mavros_msgs/OpticalFlowRad],
    rc_inputs[mavros_msgs/RCIn],
    state[mavros_msgs/HilStateQuaternion]
  landing_target/
    (lt_marker)
    (pose_in)
    pose[geometry_msgs/PoseStamped]
 #manual_control/
    (control)
   #send[mavros_msgs/ManualControl]
 #mocap/pose[geometry_msgs/PoseStamped],
  mount_control/
    (orientation)
    command[mavros_msgs/MountControl]
  obstacle/send[sensor_msgs/LaserScan],
  odometry/
    (in)
    out[nav_msgs/Odometry]
  onboard_computer/status[mavros_msgs/OnboardComputerStatus],
  play_tune[mavros_msgs/PlayTuneV2],
  px4flow/
    (ground_distance)
    (temperature)
    raw/
      (optical_flow_rad)
      send[mavros_msgs/OpticalFlowRad]
 #rc/
    (in)
    (out)
   #override[mavros_msgs/OverrideRCIn]
  statustext/
    (recv)
    send[mavros_msgs/StatusText]
  trajectory/
    (desired)
    generated[mavros_msgs/Trajectory],
    path[nav_msgs/Path]
 #vision_pose/
   #pose[geometry_msgs/PoseStamped],
   #pose_cov[geometry_msgs/PoseWithCovarianceStamped]
 #vision_speed/speed_twist_cov[geometry_msgs/TwistWithCovarianceStamped],
**
  local_position/
    (accel)
    (odom)
    (pose)
    (pose_cov)
    (velocity_body)
    (velocity_body_cov)
    (velocity_local)
    pose[geometry_msgs/PoseStamped]
  global_position/
    (compass_hdg)
    (global)
    (gp_lp_offset)
    (gp_origin)
    (local)
    (rel_alt)
    (raw/)
      (fix)
      (gps_vel)
      (satellites)
    global[sensor_msgs/NavSatFix],
    home[mavros_msgs/HomePosition],
    set_gp_origin[geographic_msgs/GeoPointStamped]
  home_position/
    (home)
    set[mavros_msgs/HomePosition]
 #setpoint_accel/accel[geometry_msgs/Vector3Stamped],
 #setpoint_attitude/
   #cmd_vel[geometry_msgs/TwistStamped],
   #thrust[mavros_msgs/Thrust]
 #setpoint_position/
   #global[geographic_msgs/GeoPoseStamped],
    global_to_local[geographic_msgs/GeoPoseStamped],
** #local[geometry_msgs/PoseStamped]
 #setpoint_raw/
   #attitude[mavros_msgs/AttitudeTarget],
   #global[mavros_msgs/GlobalPositionTarget],
   #local[mavros_msgs/PositionTarget]
  setpoint_trajectory/local[trajectory_msgs/MultiDOFJointTrajectory],
 #setpoint_velocity/
    cmd_vel[geometry_msgs/TwistStamped],
   #cmd_vel_unstamped[geometry_msgs/Twist]