kaarta STENCIL 2 - Page 129

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ROS topics while mapping
Additional ROS topics
while localizing
Description
/aft_local_to_map
/aft_mapped_to_init
5 hz pose estimate from laser mapping in the frame of the
initial position for mapping / localization. More accurate than
the integrated_to_init pose but delayed relative to real-time
and less frequent. This is the data saved in the trajectory.ply
file.
/aft_mapped_to_map
Same as above, but in the map origin frame
/autoExp
/clicked_point
Returns position of mouseclick in rviz window
/clip_mode
Kaarta UI ceiling clipping: not implemented
/cmd_back, /command
Kaarta UI: not implemented
/continue_adr
/diagnostics
/fused_data_latest_pose, /fused_data_output,
/fuser_reset
/geo/global_pose,
/geo/set_origin
set_origin specifies the xyz offsets of GNSS coordinates of the
0, 0, 0 location on a geo-referenced map. Once set, global_pose
will publish data in GNSS coordinates.
/gps/fix, /gps/raw
/image/show, /image/show /throttled,
/image/show_2
rectified camera image; camera image with tracked feature
points drawn on top of it.
/image_points_last
/imu/data, /imu/magnetic_field, /imu/reinit,
/imu/time_diff, /imu/time_ref, /imu/trans
Rotational and positional estimation from the IMU at 200Hz
/initialpose
/integrated_to_init
200Hz position and orientation (in a quaternion) information
based on the IMU estimate of position relative to the starting
position of the localization run.
/integrated_to_map
200Hz position and orientation (in a quaternion) information
that is the real-time best estimate of position relative to the