ROS Topics

An operated robot is Toyota HSR.
http://www.toyota-global.com/innovation/partner_robot/family_2.html
https://github.com/ToyotaResearchInstitute/hsr_description
https://github.com/ToyotaResearchInstitute/hsr_meshes

Operate HSR

Operate the HSR by subscribing and publishing ROS topics in the table below.

No	Topic Name	Direction	Message Type	Description
1	/hsrb/command_velocity	ROS ⇒	geometry_msgs/Twist	To move Base (base_footprint) of Robot
2	/hsrb/head_trajectory_controller/command	ROS ⇒	trajectory_msgs/JointTrajectory	To move Head (head_pan_joint, head_tilt_joint)
3	/hsrb/arm_trajectory_controller/command	ROS ⇒	trajectory_msgs/JointTrajectory	To move Arm (arm_lift_joint, arm_flex_joint, arm_roll_joint, wrist_flex_joint, wrist_roll_joint)
4	/hsrb/gripper_trajectory_controller/command	ROS ⇒	trajectory_msgs/JointTrajectory	To move Gripper (hand_l_proximal_joint, hand_r_proximal_joint)
5	/hsrb/joint_states	SIGVerse ⇒	sensor_msgs/JointState	State of joints
6	/hsrb/base_scan	SIGVerse ⇒	sensor_msgs/LaserScan	Value of Laser range sensor
7	/hsrb/head_rgbd_sensor/rgb/image_raw	SIGVerse ⇒	sensor_msgs/Image	Image of Xtion rgb camera
8	/hsrb/head_rgbd_sensor/rgb/camera_info	SIGVerse ⇒	sensor_msgs/CameraInfo	CameraInfo of Xtion rgb camera
9	/hsrb/head_rgbd_sensor/depth_registered/image_raw	SIGVerse ⇒	sensor_msgs/Image	Image of Xtion depth camera
10	/hsrb/head_rgbd_sensor/depth_registered/camera_info	SIGVerse ⇒	sensor_msgs/CameraInfo	CameraInfo of Xtion depth camera
11	/hsrb/head_center_camera/image_raw	SIGVerse ⇒	sensor_msgs/Image	Image of the head camera
12	/hsrb/head_center_camera/camera_info	SIGVerse ⇒	sensor_msgs/CameraInfo	CameraInfo of the head camera
13	/hsrb/hand_camera/image_raw	SIGVerse ⇒	sensor_msgs/Image	Image of the hand camera
14	/hsrb/hand_camera/camera_info	SIGVerse ⇒	sensor_msgs/CameraInfo	CameraInfo of the hand camera
15	/hsrb/head_l_stereo_camera/image_rect_color	SIGVerse ⇒	sensor_msgs/Image	Image of the left stereo camera
16	/hsrb/head_l_stereo_camera/camera_info	SIGVerse ⇒	sensor_msgs/CameraInfo	CameraInfo of the left stereo camera
17	/hsrb/head_r_stereo_camera/image_rect_color	SIGVerse ⇒	sensor_msgs/Image	Image of the right stereo camera
18	/hsrb/head_r_stereo_camera/camera_info	SIGVerse ⇒	sensor_msgs/CameraInfo	CameraInfo of the right stereo camera

Note: SIGVerse ⇒: SIGVerse to User's ROS Node, ROS ⇒: User's ROS Node to SIGVerse

Furthermore, the TF information of robots is distributed at a regular interval.