kaarta STENCIL 2 - Page 130

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ROS topics while mapping
Additional ROS topics
while localizing
Description
origin of the map of the localization run. If you start at the
origin, it should be the same as integrated_to_init
/isSensorMoving
Should be set to false to freeze the current pose. Useful when
robot is stopped in location where there is significant
occlusions or larger moving objects in the environment.
/iteration_pointcloud
Used internally by the Localize Using GNSS
/iteration_counter
Used internally by the Localize Using GNSS
/laser_cloud_corner_from_map
/laser_cloud_corner_stack
/laser_cloud_flat, /laser_cloud_less_flat,
/laser_cloud_less_sharp, /laser_cloud_sharp
/laser_cloud_surf_from_map
/laser_cloud_surf_stack
/laser_cloud_surround
/laser_mapping_stats
/laser_odom_to_init
/map_cloud
A down sampled view of the map surrounding the current
location. This is the map that shows in rviz while scanning.
/mapping_confidence
Used by the confidence plotting tool
/map_localization_confidence
Estimation of the quality of how well the current scan matches
back to the apriori map being used for localization. Useful for
determining when localization lock occurs and if it is lost.
/mappingSettings
/monocular_camera/camera_info
All /monocular_camera topics are raw data from the camera
ROS driver. The /monocular_camera/image topic is the raw
image off the camera, others probably are not helpful.
/monocular_camera/image
/monocular_camera/image/compressed,
/parameter_descriptions, /parameter_updates
/monocular_camera/image/compressedDepth,
/parameter_descriptions, /parameter_updates