Skip to main content
Use ROS2 topics for streaming robot state and continuous commands.

​
Topic Interface

​
How to read PUB/SUB

The Dir column is from the robot runtime perspective. PUB means MARS publishes that topic and you subscribe to it. SUB means MARS subscribes to that topic and you can publish commands to it.

​
Quick commands

ros2 topic list
ros2 topic list -t
ros2 topic echo /battery_state
ros2 topic hz /scan
ros2 topic info /cmd_vel

Services

Request/response interfaces for map, system, and runtime control.

Actions

Long-running goal APIs with feedback and cancellation.