ROS 2 Platform API

note

Motor topic message types may differ based on the motor controller used by the platform.

Platform Topics

Topic	Message type	Publisher	Description	QoS	Platform
cmd_vel	geometry_msgs/TwistStamped	User	Commands the robot to drive at a velocity	System Default	All
diagnostics	diagnostics_msgs/DiagnosticArray	Various nodes	Diagnostic messages reported by various nodes	System Default	All
joy_teleop/cmd_vel	geometry_msgs/TwistStamped	Joy node	Velocity commands from joystick inputs	System Default	All
joy_teleop/joy	sensor_msgs/Joy	Joy node	Joystick input states	System Default	All
platform/bms/state	sensor_msgs/BatteryState	Battery node	System battery state	Sensor Data	All
platform/cmd_fans	clearpath_platform_msgs/Fans	User	User fans command request	System Default	A300
platform/cmd_lights	clearpath_platform_msgs/Lights	User	User lighting command request	System Default	A300, DX100, DX150, R100
platform/cmd_vel	geometry_msgs/TwistStamped	Twist Mux node	Resulting velocity commands from twist mux	System Default	All
platform/dynamic_joint_states	control_msgs/DynamicJointState	Control node	Platform dynamic joint state	System Default	All
platform/emergency_stop	std_msgs/Bool	MCU node	State of platform emergency stop	Sensor Data	All
platform/joint_states	sensor_msgs/JointState	Control node	Platform joint state	System Default	All
platform/motors/cmd	clearpath_platform_msgs/Drive sensor_msgs/JointState	Control node	Command velocities to individual wheels	Sensor Data	All
platform/motors/feedback	clearpath_platform_msgs/DriveFeedback clearpath_motor_msgs/LynxMultiFeedback clearpath_motor_msgs/PumaMultiFeedback	MCU or Motor Driver node	Feedback from motor drive unit	Sensor Data	All
platform/motors/status	clearpath_motor_msgs/LynxMultiStatus clearpath_motor_msgs/PumaMultiStatus	Motor Driver node	Status from motor drive unit	Sensor Data	A300, DX100, DX150, R100
platform/odom	nav_msgs/Odometry	Control node	Platform wheel odometry	System Default	All
platform/odom/filtered	nav_msgs/Odometry	EKF node	Platform wheel odometry fused with IMU data	System Default	All
platform/wifi_connected	std_msgs/Bool	Wireless Watcher node	Wi-Fi connected status	System Default	All
platform/wifi_status	wireless_msgs/Connection	Wireless Watcher node	Wi-Fi signal status	System Default	All
robot_description	std_msgs/String	Robot State Publisher	Robot description	Transient Local	All
tf	tf2_msgs/TFMessage	Various nodes	Link transforms	System Default	All
tf_static	tf2_msgs/TFMessage	Various nodes	Static link transforms	Transient Local	All
twist_marker_server/cmd_vel	geometry_msgs/TwistStamped	Twist Marker Server	Velocity commands from twist marker	System Default	All
/rosout	rcl_interfaces/Log	Various nodes	System Logs	Transient Local	All

Platform Actions

Service	Service type	Server	Description	QoS	Platform
platform/motors/calibrate	clearpath_motor_msgs/LynxCalibrate	Lynx Motor Node	Calibrate Lynx motor controllers	System default	A300
platform/motors/update	clearpath_motor_msgs/LynxUpdate	Lynx Motor Node	Update Lynx motor controllers	System default	A300

Platform Services

Service	Service type	Server	Description	QoS	Platform
platform/pinout/aux_#	clearpath_platform_msgs/SetPinout	Pinout control node	Set auxiliary output pin state to on/off/toggle	System default	A300, DX100, DX150
platform/pinout/gpo_#	clearpath_platform_msgs/SetPinout	Pinout control node	Set general purpose output pin state to on/off/toggle	System default	A300
platform/pinout/user_pwr_ctrl	std_srvs/SetBool	Pinout control node	Set user power rail output to on/off	System default	A300