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

Topological nav:

  • /topological_navigation/Route - current route through nodes
  • /topological_navigation/Statistics - statistics on top nav (already logged but might as well)
  • /current_node - current node in topo nav
  • /current_edge - current edge in topo nav
  • /closest_node - closest node in topo nav

Monitored nav:

  • /do_backtrack/goal - Command to do the backtrack recovery

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