3. ROS2 topics & services

All information that can be acquired from the bots and the warehouse in the simulation scene is available on ROS2 topics and services. Users can send specific commands to the bot(s) to control it and let it complete its tasks.

Below, you can view all details about the available topics and services, along with the commands that you can send to the bots.

Warehouse services

(real-time data about the current state of the warehouse)

Navigation

Service	Description	Response data format
/warehouse/nodes	List of all nodes to build navigation graph.	[ [x1,y1,z1], [x2,y2,z2], ...]
/warehouse/graph/indices	Graph data containing all valid edges, based on indices of the nodes. (see /warehouse/nodes)	{ 1: [2, 3], 2: [1, 4], 3: ...] }
/warehouse/graph/raw	Graph data containing all valid edges, with coordinates of all nodes.	{ '[x1,z1]': [ [x2,z2], [x3,z3] ], '[x2,z2]': [ [x1,z1], [x4,z4] ], '[x3,z3]': ...] }

Products

Service	Description	Response data format
/warehouse/shelves	Shelf info: product code, position & packages.	{"xx": {"packages": ["xx", "tt"], "position": [1.1,2.2,3.3]}, "tt": ...}
/warehouse/docks	Dock (A, B or C), available packages & position.	{"A": {"packages": ["xx","tt","zz", ...], "position": [1.1,2.2,3.3]}, "B": ... }
/warehouse/dropoffs	Dropoff (1-4), delivered packages & position.	{"1": {"packages": ["xx","tt","zz", ...], "position": [1.1,2.2,3.3]}, "2": ... }
/warehouse/chargingstations	Charging stations position & status.	{"0": {"position": [1.1,2.2,3.3], "in_use": false}, "1": ...}

Bot control

(bot listening for your command)

Each robot has its own topics to listen for command. To address the correct bot with your commands, the name of the bot ({bot}) is contained in the topic name. Make sure you make this bot name easily configurable in the project. This way you will be able to adapt to new simulations or bots.

General (all bot types)

Topic	Description	Message type
/{bot}/cmd_vel	Publish on this topic to move the bot.	TwistMsg. Linear uses X, angular uses Y field.
/{bot}/cam/compressed	Subscribe to receive bot camera images.	CompressedImage
/{bot}/position	Subscribe to receive bot position.	Vector3Msg
/{bot}/facing	Subscribe to receive facing direction ('forward' point from robot perspective)	```Vector3Msg
/{bot}/battery	Subscribe to receive bot battery status.	Float32. Percentage between 0% and 100%.

Order picker & Package sorter

Topic	Description	Message type
/{bot}/command	* Publish GRAB command to grab box in front of bot.	StringMsg
	* Publish DROP to drop box in front of bot.
/{bot}/scan	Subscribe to receive scanned box product code.	StringMsg. 'none' if no box is present.

Pest control

Topic	Description	Message type
/{bot}/lasercam/aim	Publish on this topic to move the laser aim cam.	TwistMsg. Z rotation is ignored.
/{bot}/lasercam/compressed	Subscribe to receive bot laser camera images.	CompressedImage
/{bot}/command	Publish ZAP command to fire laser. Laser will fire towards middle of laser cam.	StringMsg