ROS standard topics, messages and nodes

asked 2016-10-20 03:14:05 -0500

McKracken82 gravatar image

Hi to all,

I have a question that is really general, and I already know (more than) half of the answer, but for completeness I'd like to have information from people that might be more expert than me.

I kind of understood that there is a set of "more or less" standard messages that have been defined within ROS ( ). I also think I understood that there is a set of nodes that is somehow "recognized" by the ROS community ( ). While this is more or less clear (if I'm right), I can't figure how if there is also a standard for the topics, e.g. ROS tells you that the standard topic where to publish odometry is /odom (then you can actually publish it wherever you want). Or similarly, somewhere around the wiki there is written that /camera/image_raw is the standard topics for RGB camera publishing.

Is there any list of this "supposed to be" standard topic in this sense?

And what about messages-services-actions that are used by recognized nodes (e.g. MoveBase.action of move_base)?

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In the case of "standard topics" / cordinate frames, you should see: REP 105 Mobile Platforms, REP 120 Humanoids

abrzozowski gravatar image abrzozowski  ( 2016-10-20 04:20:40 -0500 )edit

The REPs are probably a good source for this kind of information. See REP-138 - LaserScan Common Topics, Parameters, and Diagnostic Keys for instance. For Action interfaces, I'm not aware or standardisation efforts, but I would certainly be interested.

gvdhoorn gravatar image gvdhoorn  ( 2016-10-20 05:17:52 -0500 )edit