ROS 2 Sensors API
note
The '#' in the topic represents the index of the sensor. Indexing begins at 0 and will increment for each new sensor of that type that is added. Internal sensors such as IMU's will be indexed first.
2D Lidar topics
| Topic | Message type | Description | QoS |
|---|---|---|---|
| sensors/lidar2d_#/scan | sensor_msgs/LaserScan | Lidar scan data | System Default |
3D Lidar topics
| Topic | Message type | Description | QoS |
|---|---|---|---|
| sensors/lidar3d_#/points | sensor_msgs/PointCloud2 | Lidar pointcloud data | System Default |
| sensors/lidar3d_#/scan | sensor_msgs/LaserScan | Lidar scan data | System Default |
Camera topics
| Topic | Message type | Description | QoS |
|---|---|---|---|
| sensors/camera_#/color/image | sensor_msgs/Image | Raw RGB image | System Default |
| sensors/camera_#/color/camera_info | sensor_msgs/CameraInfo | Camera Info | System Default |
| sensors/camera_#/depth/image | sensor_msgs/Image | Raw depth image | System Default |
| sensors/camera_#/depth/camera_info | sensor_msgs/CameraInfo | Camera Info | System Default |
| sensors/camera_#/points | sensor_msgs/PointCloud2 | Pointcloud data | System Default |
| sensors/camera_#/imu | sensor_msgs/Imu | IMU data | System Default |
IMU topics
| Topic | Message type | Description | QoS |
|---|---|---|---|
| sensors/imu_#/data_raw | sensor_msgs/Imu | Raw IMU orientation, angular velocity, and linear acceleration data | Sensor Data |
| sensors/imu_#/data | sensor_msgs/Imu | Filtered IMU orientation, angular velocity, and linear acceleration data | System Default |
| sensors/imu_#/mag | sensor_msgs/MagneticField | IMU magnetic field data | System Default |
GPS topics
| Topic | Message type | Description | QoS |
|---|---|---|---|
| sensors/gps_#/fix | sensor_msgs/NavSatFix | Navsat Fix information | System Default |