5.2 Key ROS Topics/Services

This is the complete ROS 2 topic and service specification used by AntBot. For sensor placement and coordinates, see Key Sensor Specifications.

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Topics

Published

Topic	Type	Description
/imu/accel_gyro	sensor_msgs/Imu	Quaternion + angular velocity + linear acceleration
/lidar_3d_points	sensor_msgs/PointCloud2	3D point cloud
/scan_0	sensor_msgs/LaserScan	Front 2D laser scan
/scan_1	sensor_msgs/LaserScan	Rear 2D laser scan
/sensor/camera/v4l2/left/image_raw	sensor_msgs/Image	Left mono camera
/sensor/camera/v4l2/front/image_raw	sensor_msgs/Image	Front mono camera
/sensor/camera/v4l2/right/image_raw	sensor_msgs/Image	Right mono camera
/sensor/camera/v4l2/rear/image_raw	sensor_msgs/Image	Rear camera
/sensor/camera/usb/cargo/image_raw	sensor_msgs/Image	Cargo camera
/battery	sensor_msgs/BatteryState	Voltage, current, SoC, temperature
/ultrasound	std_msgs/Float64MultiArray	Ultrasonic sensor distance (cm)
/odom	nav_msgs/Odometry	Odometry (position, velocity)
/tf	tf2_msgs/TFMessage	odom → base_link transform
/cargo/status	antbot_interfaces/CargoStatus	Cargo door/lock status

Note

The RGB-D camera is published on separate topics through a vendor SDK.

Subscribed

Topic	Type	Description
/cmd_vel	geometry_msgs/Twist	Velocity command (linear x/y + angular z)

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Services

Service	Type	Description
/cargo/command	antbot_interfaces/CargoCommand	Cargo lock/unlock
/headlight/operation	std_srvs/SetBool	Headlight ON/OFF
/wiper/operation	antbot_interfaces/WiperOperation	Wiper control
/hw/direct_read	antbot_interfaces/DirectRead	Control item read
/hw/direct_write	antbot_interfaces/DirectWrite	Control item write