ros2 topic list, ros2 service list, and ros2 action list.
Topics
“Pub” means MARS publishes it and you subscribe. “Sub” means you publish commands to it.| Topic | Type | Dir | Contents |
|---|---|---|---|
/cmd_vel | geometry_msgs/Twist | Sub | Base velocity commands |
/odom | nav_msgs/Odometry | Pub | Position and velocity estimate |
/scan | sensor_msgs/LaserScan | Pub | LiDAR |
/battery_state | sensor_msgs/BatteryState | Pub | Charge, voltage, charging status |
/mars/main_camera/left/image_raw | sensor_msgs/Image | Pub | Head camera, left eye |
/mars/main_camera/depth/image_rect_raw | sensor_msgs/Image | Pub | Stereo depth |
/mars/arm/image_raw | sensor_msgs/Image | Pub | Wrist camera |
/mars/arm/state | sensor_msgs/JointState | Pub | Arm joints |
/mars/arm/commands | std_msgs/Float64MultiArray | Sub | Direct arm joint commands |
/leader/state | sensor_msgs/JointState | Pub | Leader arm joints, while teleoperating |
/joint_states | sensor_msgs/JointState | Pub | All joints, for visualization |
/nav/current_mode | Pub | navigation, mapfree, or mapping | |
/brain/chat_out | std_msgs/String | Pub | What the agent says |
/brain/available_skills | std_msgs/String | Pub | Loaded skills, as JSON |
/brain/skill_status_update | std_msgs/String | Pub | Status of the running skill |
ros2 topic echo /battery_state
ros2 topic hz /scan
Services
| Service | Type | Does |
|---|---|---|
/mars/arm/goto_js | mars_msgs/GotoJS | Move arm joints over time seconds |
/mars/head/set_ai_position | std_srvs/Trigger | Put the head in its default position |
/light_command | mars_msgs/LightCommand | Set LED mode and color |
/nav/change_mode | brain_messages/ChangeNavigationMode | Switch navigation mode |
/nav/change_navigation_map | brain_messages/ChangeMap | Switch the active map |
/nav/save_map, /nav/delete_map | brain_messages/SaveMap, DeleteMap | Save or delete a map |
/localize | std_srvs/Trigger | Relocalize on the current map |
/brain/reload_skills_agents | brain_messages/ReloadSkillsAgents | Reload the workspace |
/brain/get_available_directives | brain_messages/GetAvailableDirectives | List agents (“directives” is their old name) |
/brain/get_chat_history | brain_messages/GetChatHistory | Get the conversation |
/brain/reset_brain | brain_messages/ResetBrain | Reset the agent’s state |
/brain/recorder/* | various | Start, save, and cancel recordings |
/set_robot_name | mars_msgs/SetRobotName | Rename the robot and its hostname |
/trigger_update | mars_msgs/TriggerUpdate | Start an OS update |
/shutdown | mars_msgs/Shutdown | Shut down |
# Move the arm over 2 seconds (time is in seconds, not milliseconds)
ros2 service call /mars/arm/goto_js mars_msgs/srv/GotoJS \
"{data: {data: [0.0, -0.8, 1.2, -0.6, 0.0, 0.0]}, time: 2.0}"
# Set the LEDs to Innate purple
ros2 service call /light_command mars_msgs/srv/LightCommand \
"{mode: 1, interval: 0, r: 64, g: 31, b: 251}"
Actions
| Action | Type | Does |
|---|---|---|
/navigate_to_pose | nav2_msgs/NavigateToPose | Drive to a pose on the map |
/execute_skill | brain_messages/ExecuteSkill | Run a skill by name with JSON inputs |
/behavior/execute | brain_messages/ExecuteBehavior | Run a trained policy from its folder |
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
"{pose: {header: {frame_id: map}, pose: {position: {x: 1.0, y: 0.0}, orientation: {w: 1.0}}}}" --feedback
ros2 action send_goal /execute_skill brain_messages/action/ExecuteSkill \
"{skill_type: wave, inputs: \"{}\"}" --feedback