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ROS 2 Topics Reference
Mohsin Mirza edited this page Mar 31, 2026
·
1 revision
Complete listing of all topics published and subscribed to by the perception pipeline.
| Topic | Type | Published By | Description |
|---|---|---|---|
/car/pose |
geometry_msgs/PoseStamped |
cropper_car_node |
3D centroid pose of detected car object |
/car/radius |
std_msgs/Float32 |
cropper_car_node |
Bounding sphere radius of car object |
/screw/pose |
geometry_msgs/PoseStamped |
cropper_screw_node |
3D centroid pose of detected screw |
/screw/radius |
std_msgs/Float32 |
cropper_screw_node |
Bounding sphere radius of screw |
/object_pose_screwdriver |
geometry_msgs/PoseStamped |
point_obb_cloud_cropper_node |
6D pose of screwdriver (position + orientation) |
/body_markers |
visualization_msgs/MarkerArray |
subdoor_pose_estimator |
Corner poses of subdoor panel |
/table_height_value |
std_msgs/Float32 |
table_height_estimator |
Estimated table height in metres |
/perception/table_pose |
geometry_msgs/PoseStamped |
table_height_estimator |
Table surface pose in robot base frame |
/perception/target_place_pose |
geometry_msgs/PoseStamped |
place_object_node |
Safe placement target pose on table |
| Topic | Type | Published By | Description |
|---|---|---|---|
/car/detections |
vision_msgs/Detection2DArray |
yolo_car_node |
Raw YOLO detections for car pipeline |
/screw/detections |
vision_msgs/Detection2DArray |
yolo_screw_node |
Raw YOLO detections for screw pipeline |
/annotated_images |
sensor_msgs/Image |
YOLO nodes | RGB image with bounding boxes drawn |
/cropped_pointcloud |
sensor_msgs/PointCloud2 |
Cropper nodes | Point cloud cropped to detection region |
| Topic | Type | Description |
|---|---|---|
/perception/debug/table_plane |
sensor_msgs/PointCloud2 |
Segmented table surface (Place Object) |
/perception/debug/objects |
sensor_msgs/PointCloud2 |
Occupied regions on table |
/perception/debug/viz_sphere |
visualization_msgs/Marker |
Sphere marker at placement zone |
/perception/debug/viz_arrow |
visualization_msgs/Marker |
Arrow marker at placement pose |
/perception/debug/table_height_plane |
sensor_msgs/PointCloud2 |
Segmented plane for height estimation |
/perception/debug/table_height_viz |
visualization_msgs/MarkerArray |
Height visualisation markers |
| Topic | Type | Used By | Notes |
|---|---|---|---|
/camera/depth/color/points |
sensor_msgs/PointCloud2 |
All nodes | Kinova arm camera (input_mode:=robot) |
/camera/camera/depth/color/points |
sensor_msgs/PointCloud2 |
All nodes | RealSense camera (input_mode:=realsense) |
/camera/color/image_raw |
sensor_msgs/Image |
YOLO nodes, subdoor | Kinova RGB image |
/camera/camera/color/image_raw |
sensor_msgs/Image |
YOLO nodes, subdoor | RealSense RGB image |
| Topic | Type | Description |
|---|---|---|
/run_perception_pipeline |
my_robot_interfaces/action/RunVision |
Main action interface to dispatcher |
These topics were part of earlier pipeline versions and are no longer active in the current feat/vision-pipeline branch:
| Topic | Previous Use |
|---|---|
/pickable_objects |
YOLO detection array for graspable objects |
/non_pickable_objects |
YOLO detection array for non-graspable objects |