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Version: ROS 2 Jazzy

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

TopicMessage typeDescriptionQoS
sensors/lidar2d_#/scansensor_msgs/LaserScanLidar scan dataSystem Default

3D Lidar topics

TopicMessage typeDescriptionQoS
sensors/lidar3d_#/pointssensor_msgs/PointCloud2Lidar pointcloud dataSystem Default
sensors/lidar3d_#/scansensor_msgs/LaserScanLidar scan dataSystem Default
sensors/lidar3d_#/imu/data_rawsensor_msgs/ImuIMU dataSystem Default

Camera topics

TopicMessage typeDescriptionQoS
sensors/camera_#/color/imagesensor_msgs/ImageRaw RGB imageSystem Default
sensors/camera_#/color/camera_infosensor_msgs/CameraInfoCamera InfoSystem Default
sensors/camera_#/depth/imagesensor_msgs/ImageRaw depth imageSystem Default
sensors/camera_#/depth/camera_infosensor_msgs/CameraInfoCamera InfoSystem Default
sensors/camera_#/pointssensor_msgs/PointCloud2Pointcloud dataSystem Default
sensors/camera_#/imu/data_rawsensor_msgs/ImuIMU dataSystem Default

IMU topics

TopicMessage typeDescriptionQoS
sensors/imu_#/data_rawsensor_msgs/ImuRaw IMU orientation, angular velocity, and linear acceleration dataSensor Data
sensors/imu_#/datasensor_msgs/ImuFiltered IMU orientation, angular velocity, and linear acceleration dataSystem Default
sensors/imu_#/magsensor_msgs/MagneticFieldIMU magnetic field dataSystem Default

INS topics

TopicMessage typeDescriptionQoS
sensors/ins_#/imu_0/datasensor_msgs/ImuRaw IMU orientation, angular velocity, and linear acceleration dataSensor Data
sensors/ins_#/gps_0/fixsensor_msgs/NavSatFixNavsat Fix information from the first receiver (if present)Sensor Data
sensors/ins_#/gps_1/fixsensor_msgs/NavSatFixNavsat Fix information from the second receiver (if present)Sensor Data
sensors/ins_#/odomnav_msgs/OdometryOdometry data derived from all inputs to the INSSensor Data

GPS topics

TopicMessage typeDescriptionQoS
sensors/gps_#/fixsensor_msgs/NavSatFixNavsat Fix informationSystem Default