Topics

Below is a list of topics getting published, and topics that this node is subscribed to.

They can be listed while the nao_lola node is running, with:

ros2 topic list -t

Publishing Topics

• sensors/accelerometer (nao_sensor_msgs::msg::Accelerometer)

• sensors/angle (nao_sensor_msgs::msg::Angle)

• sensors/buttons (nao_sensor_msgs::msg::Buttons)

• sensors/fsr (nao_sensor_msgs::msg::FSR)

• sensors/gyroscope (nao_sensor_msgs::msg::Gyroscope)

• sensors/joint_positions (nao_sensor_msgs::msg::JointPositions)

• sensors/joint_stiffnesses (nao_sensor_msgs::msg::JointStiffnesses)

• sensors/joint_temperatures (nao_sensor_msgs::msg::JointTemperatures)

• sensors/joint_currents (nao_sensor_msgs::msg::JointCurrents)

• sensors/joint_statuses (nao_sensor_msgs::msg::JointStatuses)

• sensors/sonar (nao_sensor_msgs::msg::Sonar)

• sensors/touch (nao_sensor_msgs::msg::Touch)

• sensors/battery (nao_sensor_msgs::msg::Battery)

• sensors/robot_config (nao_sensor_msgs::msg::RobotConfig)

Subscription Topics

• effectors/joint_positions (nao_command_msgs::msg::JointPositions)

• effectors/joint_stiffnesses (nao_command_msgs::msg::JointStiffnesses)

• effectors/chest_led (nao_command_msgs::msg::ChestLed)

• effectors/left_ear_leds (nao_command_msgs::msg::LeftEarLeds)

• effectors/right_ear_leds (nao_command_msgs::msg::RightEarLeds)

• effectors/left_eye_leds (nao_command_msgs::msg::LeftEyeLeds)

• effectors/right_eye_leds (nao_command_msgs::msg::RightEyeLeds)

• effectors/left_foot_led (nao_command_msgs::msg::LeftFootLed)

• effectors/right_foot_led (nao_command_msgs::msg::RightFootLed)

• effectors/head_leds (nao_command_msgs::msg::HeadLeds)

• effectors/sonar_usage (nao_command_msgs::msg::SonarUsage)