Message Type | Configurable Parameters | Description |
---|---|---|
RGBImage | msg_type: "sensor_msgs/Image" , target: "name_of_rgb_camera" , msg_name: "name_of_topic" | RGB image frames |
DepthImage | msg_type: "sensor_msgs/Image" , target: "name_of_depth_camera" , msg_name: "name_of_topic" | Depth image frames |
BasePose | msg_type: "geometry_msgs/Pose" , target: "name_of_robot" , body_name: "name_of_body" , msg_name: "name_of_topic" | Pose of the robot’s base link |
EndEffectorPose | msg_type: "geometry_msgs/Pose" , target: "name_of_robot" , link_name: "name_of_link" , msg_name: "name_of_topic" | Pose of the end-effector link (e.g. panda_hand ) |
JointState | msg_type: "sensor_msgs/JointState" , target: "name_of_robot" , msg_name: "name_of_topic" | Current joint states of the robot |
ContactForces | msg_type: "geometry_msgs/Wrench" , target: "name_of_contact_sensor" , msg_name: "name_of_topic" | Contact force/torque readings |
LidarScan | msg_type: "sensor_msgs/PointCloud2" , target: "name_of_lidar" , msg_name: "name_of_topic" | Point-cloud data from the LiDAR |
ImuData | msg_type: "sensor_msgs/msg/Imu" , target: "name_of_imu" , msg_name: "name_of_topic" | IMU (accelerometer/gyroscope) measurements |
GPSOdometry | msg_type: "nav_msgs/msg/Odometry" target: "name_of_robot" body_name: "root" msg_name: "name_of_topic" info: {} | Publishes full 6-DoF odometry (position, orientation, linear & angular velocity) of the robot’s root link, as from “GPS”. |
Quaternion_Z_Relative | msg_type: "geometry_msgs/msg/Quaternion" target: "name_of_height_sensor" msg_name: "name_of_topic" body_name: "root" info: { art_body: "robot" } | Computes and publishes the Z-axis–only relative orientation quaternion between the robot and the ground plane under a raycaster sensor. |
CameraInfo | msg_type: "sensor_msgs/msg/CameraInfo" target: "name_of_rgb_camera" msg_name: "name_of_topic" info: {} | Publishes camera calibration data (image size, distortion coefficients D, intrinsic K, rectification R, projection P) flattened. |
env.yaml
is as follows:
ROS2 Msg Type | Description |
---|---|
sensor_msgs/JointState | Command message to set robot joint positions |
geometry_msgs/Twist | Command message to control base linear/angular velocity |
geometry_msgs/Pose | Command message to set end-effector delta pose |
commands
entity specified in the mdp.yaml
.
An example of how to use commands in env.yaml
is as follows: