Topics to log:¶
Ros message printouts (above warning priority):¶
/rosout
Robot status:¶
/tf
- The tf description/robot_pose
- Also in tf but might as well/cmd_vel
- Velocity sent to motors/goal
- Might be the move base goal/mileage
- Distance traveled/motor_status
- Is motor stop on? Free run etc./head/actual_state
- Positions of eyes/head/cmd_light_state
- Eye lights/head/commanded_state
- Eye position commands?/barrier_status
- Magnetic strip?/battery_state
- Is charging, battery percentage etc./bumper
- Is bumper pressed?/charger_status
- Charging status/rfid
- Magnetic strip etc./diagnostics
- Network status, joystick driver status, PTU status etc./SetPTUState/goal
- PTU position command/ResetPtu/goal
- PTU reset command/EBC/parameter_updates
- cfg changes of ebc/Charger/parameter_updates
- cfg changes of charger
Communication:¶
/speak/goal
- mary tts speak command/mary_tts/speak
- same?/strands_emails/goal
- send email command/strands_image_tweets/goal
- send image tweet command/pygame_player_negotiation
- highest audio priority + node?
Docking servers:¶
/chargingServer/goal
/chargingServer/result
/chargingServer/cancel
/docking/goal
/docking/result
/docking/cancel
/undocking/goal
/undocking/result
/undocking/cancel
Move base:¶
/map_updates
/move_base/NavfnROS/plan
- local plan?/move_base/current_goal
- current goal/move_base/DWAPlannerROS/global_plan
- global plan/move_base/DWAPlannerROS/local_plan
- local plan/move_base/goal
- current goal
Already logged (won’t be logged by this):¶
Task executor:¶
/execute_policy_mode/Statistics
- Scheduling stats, times etc?/task_executor/events
- ?/current_schedule
- Current schedule
Monitored nav:¶
/monitored_navigation/monitored_nav_event
- (Already logged by Bruno?)/monitored_navigation/srv_pause_requested
- ?/monitored_navigation/stuck_on_carpet
- Stuck on carpet state/monitored_navigation/pause_requested
- Nav pause
Original page: https://github.com/strands-project/aaf_deployment/wiki/Topics-to-log-during-deployments