Meltwin/Baxter topics.md

## Baxter topics.md

      
    Raw
  

              Baxter topics.md
            
          
    Navigators Lights

Managing navigators lights (same topic as the sdk):
/robot/digital_io/command

Reading navigators lights states:
/robot/digital_io/<component_id>/state

Components IDs:

[left|right]_[inner|outer]_light  for arm lights
torso_[left|right]_[inner|outer]_light *for the lights on the side of the torso

Buttons

Each cuff has two sets of two buttons. Each set of button will send on the same topic.
/robot/digital_io/<side>_lower_cuff/state
Topic on which the information about a person moving the cuff is sent.

Baxter topic list


/ExternalTools/left/PositionKinematicsNode/FKServer/reply
/ExternalTools/left/PositionKinematicsNode/FKServer/request
/ExternalTools/left/PositionKinematicsNode/IKServer/reply
/ExternalTools/left/PositionKinematicsNode/IKServer/request
/ExternalTools/right/PositionKinematicsNode/FKServer/reply
/ExternalTools/right/PositionKinematicsNode/FKServer/request
/ExternalTools/right/PositionKinematicsNode/IKServer/reply
/ExternalTools/right/PositionKinematicsNode/IKServer/request
/cameras/left_hand_camera/camera_info
/cameras/left_hand_camera/camera_info_std
/cameras/left_hand_camera/image
/cameras/right_hand_camera/camera_info
/cameras/right_hand_camera/camera_info_std
/cameras/right_hand_camera/image
/collision/left/collision_detection
/collision/left/debug
/collision/right/collision_detection
/collision/right/debug
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/hdraw
/robot/accelerometer/left_accelerometer/state
/robot/accelerometer/right_accelerometer/state
/robot/accelerometer_names
/robot/accelerometer_states
/robot/analog_io/command
/robot/analog_io/left_hand_range/state
/robot/analog_io/left_hand_range/value_uint32
/robot/analog_io/left_vacuum_sensor_analog/state
/robot/analog_io/left_vacuum_sensor_analog/value_uint32
/robot/analog_io/left_wheel/state
/robot/analog_io/left_wheel/value_uint32
/robot/analog_io/right_hand_range/state
/robot/analog_io/right_hand_range/value_uint32
/robot/analog_io/right_vacuum_sensor_analog/state
/robot/analog_io/right_vacuum_sensor_analog/value_uint32
/robot/analog_io/right_wheel/state
/robot/analog_io/right_wheel/value_uint32
/robot/analog_io/torso_fan/state
/robot/analog_io/torso_fan/value_uint32
/robot/analog_io/torso_left_wheel/state
/robot/analog_io/torso_left_wheel/value_uint32
/robot/analog_io/torso_lighting/state
/robot/analog_io/torso_lighting/value_uint32
/robot/analog_io/torso_right_wheel/state
/robot/analog_io/torso_right_wheel/value_uint32
/robot/analog_io_names
/robot/analog_io_states
/robot/assembly/head/state
/robot/assembly/left/state
/robot/assembly/right/state
/robot/assembly/torso/state
/robot/assembly_names
/robot/attached_collision_object
/robot/collision_object
/robot/digital_io/command
/robot/digital_io/head_green_light/state
/robot/digital_io/head_lcd_auto_config/state
/robot/digital_io/head_red_light/state
/robot/digital_io/head_yellow_light/state
/robot/digital_io/left_blow/state
/robot/digital_io/left_button_back/state
/robot/digital_io/left_button_ok/state
/robot/digital_io/left_button_show/state
/robot/digital_io/left_hand_camera_power/state
/robot/digital_io/left_inner_light/state
/robot/digital_io/left_lower_button/state
/robot/digital_io/left_lower_cuff/state
/robot/digital_io/left_outer_light/state
/robot/digital_io/left_pneumatic/state
/robot/digital_io/left_shoulder_button/state
/robot/digital_io/left_suck/state
/robot/digital_io/left_upper_button/state
/robot/digital_io/limit_switch_1/state
/robot/digital_io/limit_switch_2/state
/robot/digital_io/limit_switch_3/state
/robot/digital_io/motor_fault_signal/state
/robot/digital_io/right_blow/state
/robot/digital_io/right_blue_light/state
/robot/digital_io/right_button_back/state
/robot/digital_io/right_button_ok/state
/robot/digital_io/right_button_show/state
/robot/digital_io/right_hand_camera_power/state
/robot/digital_io/right_inner_light/state
/robot/digital_io/right_lower_button/state
/robot/digital_io/right_lower_cuff/state
/robot/digital_io/right_outer_light/state
/robot/digital_io/right_pneumatic/state
/robot/digital_io/right_shoulder_button/state
/robot/digital_io/right_suck/state
/robot/digital_io/right_upper_button/state
/robot/digital_io/torso_brake/state
/robot/digital_io/torso_brake_sensor/state
/robot/digital_io/torso_camera_power/state
/robot/digital_io/torso_digital_input0/state
/robot/digital_io/torso_foot_pedal/state
/robot/digital_io/torso_left_button_back/state
/robot/digital_io/torso_left_button_ok/state
/robot/digital_io/torso_left_button_show/state
/robot/digital_io/torso_left_inner_light/state
/robot/digital_io/torso_left_outer_light/state
/robot/digital_io/torso_process_sense0/state
/robot/digital_io/torso_process_sense1/state
/robot/digital_io/torso_right_button_back/state
/robot/digital_io/torso_right_button_ok/state
/robot/digital_io/torso_right_button_show/state
/robot/digital_io/torso_right_inner_light/state
/robot/digital_io/torso_right_outer_light/state
/robot/digital_io/torso_safety_stop/state
/robot/digital_io/torso_ui_output0/state
/robot/digital_io/torso_ui_output1/state
/robot/digital_io/torso_ui_output2/state
/robot/digital_io/torso_ui_output3/state
/robot/digital_io_names
/robot/digital_io_states
/robot/end_effector/left_gripper/command
/robot/end_effector/left_gripper/configure
/robot/end_effector/left_gripper/properties
/robot/end_effector/left_gripper/rsdk/set_properties
/robot/end_effector/left_gripper/rsdk/set_state
/robot/end_effector/left_gripper/set_object_mass
/robot/end_effector/left_gripper/state
/robot/end_effector/right_gripper/command
/robot/end_effector/right_gripper/configure
/robot/end_effector/right_gripper/properties
/robot/end_effector/right_gripper/rsdk/set_properties
/robot/end_effector/right_gripper/rsdk/set_state
/robot/end_effector/right_gripper/set_object_mass
/robot/end_effector/right_gripper/state
/robot/end_effector_names
/robot/head/command_head_nod
/robot/head/command_head_pan
/robot/head/head_state
/robot/head/state
/robot/homing_names
/robot/homing_states
/robot/joint_limits
/robot/joint_names
/robot/joint_state_publish_rate
/robot/joint_states
/robot/limb/left/collision_avoidance_state
/robot/limb/left/collision_detection_state
/robot/limb/left/command_joint_position
/robot/limb/left/command_nullspace_setpoint_and_twist_stamped
/robot/limb/left/command_stiffness
/robot/limb/left/command_stiffness_limit
/robot/limb/left/command_twist_speed_limit
/robot/limb/left/command_twist_speed_limit_scale
/robot/limb/left/command_twist_stamped
/robot/limb/left/command_velocity_tozero
/robot/limb/left/commanded_endpoint_state
/robot/limb/left/endpoint_state
/robot/limb/left/gravity_compensation_torques
/robot/limb/left/inverse_dynamics_command
/robot/limb/left/joint_command
/robot/limb/left/joint_command_timeout
/robot/limb/left/limb_state
/robot/limb/left/set_damping_correction_weights
/robot/limb/left/set_dominance
/robot/limb/left/set_feed_forward_weights
/robot/limb/left/set_speed_ratio
/robot/limb/left/state
/robot/limb/left/stiffness
/robot/limb/left/stiffness_constraint
/robot/limb/left/suppress_body_avoidance
/robot/limb/left/suppress_collision_avoidance
/robot/limb/left/suppress_contact_safety
/robot/limb/left/suppress_cuff_interaction
/robot/limb/left/suppress_gravity_compensation
/robot/limb/left/suppress_hand_overwrench_safety
/robot/limb/left/twist_speed_constraint
/robot/limb/left/use_default_spring_model
/robot/limb/left/velocity_controller_state
/robot/limb/left/weight_integral_terms
/robot/limb/right/collision_avoidance_state
/robot/limb/right/collision_detection_state
/robot/limb/right/command_joint_position
/robot/limb/right/command_nullspace_setpoint_and_twist_stamped
/robot/limb/right/command_stiffness
/robot/limb/right/command_stiffness_limit
/robot/limb/right/command_twist_speed_limit
/robot/limb/right/command_twist_speed_limit_scale
/robot/limb/right/command_twist_stamped
/robot/limb/right/command_velocity_tozero
/robot/limb/right/commanded_endpoint_state
/robot/limb/right/endpoint_state
/robot/limb/right/gravity_compensation_torques
/robot/limb/right/inverse_dynamics_command
/robot/limb/right/joint_command
/robot/limb/right/joint_command_timeout
/robot/limb/right/limb_state
/robot/limb/right/set_damping_correction_weights
/robot/limb/right/set_dominance
/robot/limb/right/set_feed_forward_weights
/robot/limb/right/set_speed_ratio
/robot/limb/right/state
/robot/limb/right/stiffness
/robot/limb/right/stiffness_constraint
/robot/limb/right/suppress_body_avoidance
/robot/limb/right/suppress_collision_avoidance
/robot/limb/right/suppress_contact_safety
/robot/limb/right/suppress_cuff_interaction
/robot/limb/right/suppress_gravity_compensation
/robot/limb/right/suppress_hand_overwrench_safety
/robot/limb/right/twist_speed_constraint
/robot/limb/right/use_default_spring_model
/robot/limb/right/velocity_controller_state
/robot/limb/right/weight_integral_terms
/robot/limb_names
/robot/navigators/left_navigator/state
/robot/navigators/right_navigator/state
/robot/navigators/torso_left_navigator/state
/robot/navigators/torso_right_navigator/state
/robot/navigators_names
/robot/navigators_states
/robot/range/left_hand_range/state
/robot/range/right_hand_range/state
/robot/range_names
/robot/ref_joint_names
/robot/ref_joint_states
/robot/set_homing_mode
/robot/set_motor_voltage_low
/robot/set_super_enable
/robot/set_super_reset
/robot/set_super_stop
/robot/sonar/head_sonar/approach_alert
/robot/sonar/head_sonar/lights/green_level
/robot/sonar/head_sonar/lights/red_level
/robot/sonar/head_sonar/lights/set_green_level
/robot/sonar/head_sonar/lights/set_lights
/robot/sonar/head_sonar/lights/set_red_level
/robot/sonar/head_sonar/lights/state
/robot/sonar/head_sonar/set_sonars_enabled
/robot/sonar/head_sonar/sonars_enabled
/robot/sonar/head_sonar/state
/robot/sonar_names
/robot/sonar_states
/robot/state
/robot/urdf
/robot/xdisplay
/robustcontroller/CalibrateArm/JointPoseAction/left/set_dc_weights
/robustcontroller/CalibrateArm/JointPoseAction/left/set_ff_weights
/robustcontroller/CalibrateArm/JointPoseAction/right/set_dc_weights
/robustcontroller/CalibrateArm/JointPoseAction/right/set_ff_weights
/robustcontroller/Tare/JointPoseAction/left/set_dc_weights
/robustcontroller/Tare/JointPoseAction/left/set_ff_weights
/robustcontroller/Tare/JointPoseAction/right/set_dc_weights
/robustcontroller/Tare/JointPoseAction/right/set_ff_weights
/robustcontroller/left/CalibrateArm/enable
/robustcontroller/left/CalibrateArm/status
/robustcontroller/left/Tare/enable
/robustcontroller/left/Tare/status
/robustcontroller/left/rc_plugins_loaded
/robustcontroller/right/CalibrateArm/enable
/robustcontroller/right/CalibrateArm/status
/robustcontroller/right/Tare/enable
/robustcontroller/right/Tare/status
/robustcontroller/right/rc_plugins_loaded
/rosout
/rosout_agg
/tf
/tf2_web_republisher/cancel
/tf2_web_republisher/feedback
/tf2_web_republisher/goal
/tf2_web_republisher/result
/tf2_web_republisher/status
/tf_static
/update/progress
/update/status
/usb/ready