data/r550_ros2_features.json

[
  {
    "id": "mapping_slam_toolbox",
    "name": "建图 / SLAM 建图 / slam_toolbox",
    "status": "offline-captured",
    "category": "建图",
    "aliases": [
      "建图",
      "地图",
      "slam",
      "SLAM",
      "slam_toolbox",
      "gmapping",
      "cartographer",
      "rtabmap",
      "激光建图",
      "室内建图"
    ],
    "description": "本车真实启动 slam_toolbox 后采集到的建图 ROS 图。",
    "commands": [
      "ros2 launch wheeltec_slam_toolbox online_async_launch.py",
      "ros2 run nav2_map_server map_saver_cli -f ~/map"
    ],
    "nodes": [
      "/base_to_camera",
      "/base_to_gyro",
      "/base_to_laser",
      "/base_to_link",
      "/base_to_radar",
      "/ekf_filter_node",
      "/joint_state_publisher",
      "/launch_ros_36143",
      "/robot_state_publisher",
      "/slam_toolbox",
      "/transform_listener_impl_aaaad127bfb0",
      "/transform_listener_impl_aaaafd169110",
      "/wheeltec_robot",
      "/x10/lslidar_driver_node"
    ],
    "topics": [
      "/PowerVoltage [std_msgs/msg/Float32]",
      "/RangerAvoidFlag [std_msgs/msg/Bool]",
      "/arm_cmd [std_msgs/msg/Float32MultiArray]",
      "/chassis_security [std_msgs/msg/Int8]",
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/diagnostics [diagnostic_msgs/msg/DiagnosticArray]",
      "/imu/data_raw [sensor_msgs/msg/Imu]",
      "/joint_states [sensor_msgs/msg/JointState]",
      "/map [nav_msgs/msg/OccupancyGrid]",
      "/map_metadata [nav_msgs/msg/MapMetaData]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/parameter_events [rcl_interfaces/msg/ParameterEvent]",
      "/pose [geometry_msgs/msg/PoseWithCovarianceStamped]",
      "/robot_charging_current [std_msgs/msg/Float32]",
      "/robot_charging_flag [std_msgs/msg/Bool]",
      "/robot_charging_mode [std_msgs/msg/Bool]",
      "/robot_description [std_msgs/msg/String]",
      "/robot_recharge_flag [std_msgs/msg/Int8]",
      "/robot_red_flag [std_msgs/msg/UInt8]",
      "/rosout [rcl_interfaces/msg/Log]",
      "/scan [sensor_msgs/msg/LaserScan]",
      "/set_pose [geometry_msgs/msg/PoseWithCovarianceStamped]",
      "/set_rgb_color [std_msgs/msg/UInt8MultiArray]",
      "/slam_toolbox/feedback [visualization_msgs/msg/InteractiveMarkerFeedback]",
      "/slam_toolbox/graph_visualization [visualization_msgs/msg/MarkerArray]",
      "/slam_toolbox/scan_visualization [sensor_msgs/msg/LaserScan]",
      "/slam_toolbox/update [visualization_msgs/msg/InteractiveMarkerUpdate]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]",
      "/ultrasonic_data_A [sensor_msgs/msg/Range]",
      "/ultrasonic_data_B [sensor_msgs/msg/Range]",
      "/ultrasonic_data_C [sensor_msgs/msg/Range]",
      "/ultrasonic_data_D [sensor_msgs/msg/Range]",
      "/ultrasonic_data_E [sensor_msgs/msg/Range]",
      "/ultrasonic_data_F [sensor_msgs/msg/Range]",
      "/x10/lslidar_driver_node/transition_event [lifecycle_msgs/msg/TransitionEvent]",
      "/x10/lslidar_point_cloud [sensor_msgs/msg/PointCloud2]",
      "/x10/motor_control [std_msgs/msg/Int8]",
      "/x10/time_topic [std_msgs/msg/Float64]"
    ],
    "services": [
      "/base_to_camera/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_camera/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_camera/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_camera/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_camera/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_camera/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_gyro/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_gyro/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_gyro/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_gyro/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_gyro/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_gyro/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_laser/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_laser/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_laser/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_laser/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_laser/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_laser/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_link/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_link/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_link/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_link/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_link/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_link/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_radar/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_radar/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_radar/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_radar/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_radar/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_radar/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/ekf_filter_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/ekf_filter_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/ekf_filter_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/ekf_filter_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/ekf_filter_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/ekf_filter_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/enable [std_srvs/srv/Empty]",
      "/joint_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/joint_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/joint_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/joint_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/joint_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/joint_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/launch_ros_36143/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/launch_ros_36143/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/launch_ros_36143/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/launch_ros_36143/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/launch_ros_36143/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/launch_ros_36143/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/set_pose [robot_localization/srv/SetPose]",
      "/slam_toolbox/clear_changes [slam_toolbox/srv/Clear]",
      "/slam_toolbox/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/slam_toolbox/deserialize_map [slam_toolbox/srv/DeserializePoseGraph]",
      "/slam_toolbox/dynamic_map [nav_msgs/srv/GetMap]",
      "/slam_toolbox/get_interactive_markers [visualization_msgs/srv/GetInteractiveMarkers]",
      "/slam_toolbox/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/slam_toolbox/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/slam_toolbox/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/slam_toolbox/manual_loop_closure [slam_toolbox/srv/LoopClosure]",
      "/slam_toolbox/pause_new_measurements [slam_toolbox/srv/Pause]",
      "/slam_toolbox/save_map [slam_toolbox/srv/SaveMap]",
      "/slam_toolbox/serialize_map [slam_toolbox/srv/SerializePoseGraph]",
      "/slam_toolbox/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/slam_toolbox/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/slam_toolbox/toggle_interactive_mode [slam_toolbox/srv/ToggleInteractive]",
      "/toggle [robot_localization/srv/ToggleFilterProcessing]",
      "/wheeltec_robot/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/wheeltec_robot/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/wheeltec_robot/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/wheeltec_robot/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/wheeltec_robot/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/wheeltec_robot/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/x10/lslidar_driver_node/change_state [lifecycle_msgs/srv/ChangeState]",
      "/x10/lslidar_driver_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/x10/lslidar_driver_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/x10/lslidar_driver_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/x10/lslidar_driver_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/x10/lslidar_driver_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/x10/lslidar_driver_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]"
    ],
    "actions": []
  },
  {
    "id": "core_base_lidar",
    "name": "底盘基础 + 雷达",
    "status": "online-captured",
    "category": "底盘/雷达",
    "aliases": [
      "底盘",
      "雷达",
      "激光雷达",
      "lidar",
      "laser",
      "scan",
      "lslidar",
      "odom",
      "tf",
      "里程计"
    ],
    "description": "当前后台核心采集栈，含底盘串口、EKF、TF 和雷达。",
    "commands": [
      "ros2 launch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch.py",
      "ros2 launch turn_on_wheeltec_robot wheeltec_lidar.launch.py"
    ],
    "nodes": [
      "/base_to_camera",
      "/base_to_gyro",
      "/base_to_laser",
      "/base_to_link",
      "/base_to_radar",
      "/ekf_filter_node",
      "/joint_state_publisher",
      "/launch_ros_36597",
      "/robot_state_publisher",
      "/transform_listener_impl_aaaae6cc9ee0",
      "/wheeltec_robot",
      "/x10/lslidar_driver_node"
    ],
    "topics": [
      "/PowerVoltage [std_msgs/msg/Float32]",
      "/RangerAvoidFlag [std_msgs/msg/Bool]",
      "/arm_cmd [std_msgs/msg/Float32MultiArray]",
      "/chassis_security [std_msgs/msg/Int8]",
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/diagnostics [diagnostic_msgs/msg/DiagnosticArray]",
      "/imu/data_raw [sensor_msgs/msg/Imu]",
      "/joint_states [sensor_msgs/msg/JointState]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/parameter_events [rcl_interfaces/msg/ParameterEvent]",
      "/robot_charging_current [std_msgs/msg/Float32]",
      "/robot_charging_flag [std_msgs/msg/Bool]",
      "/robot_charging_mode [std_msgs/msg/Bool]",
      "/robot_description [std_msgs/msg/String]",
      "/robot_recharge_flag [std_msgs/msg/Int8]",
      "/robot_red_flag [std_msgs/msg/UInt8]",
      "/rosout [rcl_interfaces/msg/Log]",
      "/scan [sensor_msgs/msg/LaserScan]",
      "/set_pose [geometry_msgs/msg/PoseWithCovarianceStamped]",
      "/set_rgb_color [std_msgs/msg/UInt8MultiArray]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]",
      "/ultrasonic_data_A [sensor_msgs/msg/Range]",
      "/ultrasonic_data_B [sensor_msgs/msg/Range]",
      "/ultrasonic_data_C [sensor_msgs/msg/Range]",
      "/ultrasonic_data_D [sensor_msgs/msg/Range]",
      "/ultrasonic_data_E [sensor_msgs/msg/Range]",
      "/ultrasonic_data_F [sensor_msgs/msg/Range]",
      "/x10/lslidar_driver_node/transition_event [lifecycle_msgs/msg/TransitionEvent]",
      "/x10/lslidar_point_cloud [sensor_msgs/msg/PointCloud2]",
      "/x10/motor_control [std_msgs/msg/Int8]",
      "/x10/time_topic [std_msgs/msg/Float64]"
    ],
    "services": [
      "/base_to_camera/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_camera/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_camera/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_camera/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_camera/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_camera/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_gyro/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_gyro/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_gyro/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_gyro/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_gyro/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_gyro/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_laser/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_laser/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_laser/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_laser/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_laser/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_laser/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_link/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_link/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_link/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_link/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_link/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_link/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_radar/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_radar/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_radar/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_radar/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_radar/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_radar/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/ekf_filter_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/ekf_filter_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/ekf_filter_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/ekf_filter_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/ekf_filter_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/ekf_filter_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/enable [std_srvs/srv/Empty]",
      "/joint_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/joint_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/joint_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/joint_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/joint_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/joint_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/launch_ros_36597/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/launch_ros_36597/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/launch_ros_36597/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/launch_ros_36597/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/launch_ros_36597/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/launch_ros_36597/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/set_pose [robot_localization/srv/SetPose]",
      "/toggle [robot_localization/srv/ToggleFilterProcessing]",
      "/wheeltec_robot/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/wheeltec_robot/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/wheeltec_robot/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/wheeltec_robot/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/wheeltec_robot/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/wheeltec_robot/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/x10/lslidar_driver_node/change_state [lifecycle_msgs/srv/ChangeState]",
      "/x10/lslidar_driver_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/x10/lslidar_driver_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/x10/lslidar_driver_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/x10/lslidar_driver_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/x10/lslidar_driver_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/x10/lslidar_driver_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]"
    ],
    "actions": []
  },
  {
    "id": "camera_astra",
    "name": "相机 / 摄像头 / Astra Camera",
    "status": "offline-captured",
    "category": "相机",
    "aliases": [
      "相机",
      "摄像头",
      "camera",
      "usb_cam",
      "astra",
      "image",
      "rgb",
      "color",
      "depth",
      "深度相机",
      "图像"
    ],
    "description": "本车真实启动 WHEELTEC 相机 launch 后采集到的节点和 topic。",
    "commands": [
      "ros2 launch turn_on_wheeltec_robot wheeltec_camera.launch.py"
    ],
    "nodes": [
      "/base_to_camera",
      "/base_to_gyro",
      "/base_to_laser",
      "/base_to_link",
      "/base_to_radar",
      "/camera/camera",
      "/ekf_filter_node",
      "/joint_state_publisher",
      "/launch_ros_36597",
      "/republish_color_compressed",
      "/republish_depth_compressed",
      "/robot_state_publisher",
      "/transform_listener_impl_aaaae6cc9ee0",
      "/wheeltec_robot",
      "/x10/lslidar_driver_node"
    ],
    "topics": [
      "/camera/color/image_raw [sensor_msgs/msg/Image]",
      "/camera/color/image_raw/compressed [sensor_msgs/msg/CompressedImage]",
      "/camera/color/camera_info [sensor_msgs/msg/CameraInfo]",
      "/camera/depth/image_raw [sensor_msgs/msg/Image]",
      "/camera/depth/image_raw/compressed [sensor_msgs/msg/CompressedImage]",
      "/camera/depth/camera_info [sensor_msgs/msg/CameraInfo]",
      "/camera/depth/points [sensor_msgs/msg/PointCloud2]",
      "/camera/ir/image_raw [sensor_msgs/msg/Image]",
      "/camera/ir/camera_info [sensor_msgs/msg/CameraInfo]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]",
      "/PowerVoltage [std_msgs/msg/Float32]",
      "/RangerAvoidFlag [std_msgs/msg/Bool]",
      "/arm_cmd [std_msgs/msg/Float32MultiArray]",
      "/chassis_security [std_msgs/msg/Int8]",
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/diagnostics [diagnostic_msgs/msg/DiagnosticArray]",
      "/imu/data_raw [sensor_msgs/msg/Imu]",
      "/joint_states [sensor_msgs/msg/JointState]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/parameter_events [rcl_interfaces/msg/ParameterEvent]",
      "/robot_charging_current [std_msgs/msg/Float32]",
      "/robot_charging_flag [std_msgs/msg/Bool]",
      "/robot_charging_mode [std_msgs/msg/Bool]",
      "/robot_description [std_msgs/msg/String]",
      "/robot_recharge_flag [std_msgs/msg/Int8]",
      "/robot_red_flag [std_msgs/msg/UInt8]",
      "/rosout [rcl_interfaces/msg/Log]",
      "/scan [sensor_msgs/msg/LaserScan]",
      "/set_pose [geometry_msgs/msg/PoseWithCovarianceStamped]",
      "/set_rgb_color [std_msgs/msg/UInt8MultiArray]",
      "/ultrasonic_data_A [sensor_msgs/msg/Range]",
      "/ultrasonic_data_B [sensor_msgs/msg/Range]",
      "/ultrasonic_data_C [sensor_msgs/msg/Range]",
      "/ultrasonic_data_D [sensor_msgs/msg/Range]",
      "/ultrasonic_data_E [sensor_msgs/msg/Range]",
      "/ultrasonic_data_F [sensor_msgs/msg/Range]",
      "/x10/lslidar_driver_node/transition_event [lifecycle_msgs/msg/TransitionEvent]",
      "/x10/lslidar_point_cloud [sensor_msgs/msg/PointCloud2]",
      "/x10/motor_control [std_msgs/msg/Int8]",
      "/x10/time_topic [std_msgs/msg/Float64]"
    ],
    "services": [
      "/base_to_camera/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_camera/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_camera/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_camera/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_camera/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_camera/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_gyro/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_gyro/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_gyro/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_gyro/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_gyro/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_gyro/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_laser/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_laser/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_laser/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_laser/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_laser/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_laser/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_link/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_link/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_link/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_link/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_link/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_link/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_radar/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_radar/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_radar/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_radar/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_radar/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_radar/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/camera/camera/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/camera/camera/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/camera/camera/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/camera/camera/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/camera/camera/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/camera/camera/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/camera/get_camera_info [astra_camera_msgs/srv/GetCameraInfo]",
      "/camera/get_camera_params [astra_camera_msgs/srv/GetCameraParams]",
      "/camera/get_color_auto_white_balance [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_color_exposure [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_color_gain [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_color_supported_video_modes [astra_camera_msgs/srv/GetString]",
      "/camera/get_depth_auto_white_balance [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_depth_exposure [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_depth_gain [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_depth_supported_video_modes [astra_camera_msgs/srv/GetString]",
      "/camera/get_device_info [astra_camera_msgs/srv/GetDeviceInfo]",
      "/camera/get_ir_auto_white_balance [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_ir_exposure [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_ir_gain [astra_camera_msgs/srv/GetInt32]",
      "/camera/get_ir_supported_video_modes [astra_camera_msgs/srv/GetString]",
      "/camera/get_sdk_version [astra_camera_msgs/srv/GetString]",
      "/camera/set_color_auto_exposure [std_srvs/srv/SetBool]",
      "/camera/set_color_auto_white_balance [std_srvs/srv/SetBool]",
      "/camera/set_color_exposure [astra_camera_msgs/srv/SetInt32]",
      "/camera/set_color_gain [astra_camera_msgs/srv/SetInt32]",
      "/camera/set_color_mirror [std_srvs/srv/SetBool]",
      "/camera/set_depth_auto_exposure [std_srvs/srv/SetBool]",
      "/camera/set_depth_auto_white_balance [std_srvs/srv/SetBool]",
      "/camera/set_depth_exposure [astra_camera_msgs/srv/SetInt32]",
      "/camera/set_depth_gain [astra_camera_msgs/srv/SetInt32]",
      "/camera/set_depth_mirror [std_srvs/srv/SetBool]",
      "/camera/set_fan_mode [std_srvs/srv/SetBool]",
      "/camera/set_ir_auto_exposure [std_srvs/srv/SetBool]",
      "/camera/set_ir_auto_white_balance [std_srvs/srv/SetBool]",
      "/camera/set_ir_exposure [astra_camera_msgs/srv/SetInt32]",
      "/camera/set_ir_gain [astra_camera_msgs/srv/SetInt32]",
      "/camera/set_ir_mirror [std_srvs/srv/SetBool]",
      "/camera/set_laser_enable [std_srvs/srv/SetBool]",
      "/camera/set_ldp_enable [std_srvs/srv/SetBool]",
      "/camera/toggle_color [std_srvs/srv/SetBool]",
      "/camera/toggle_depth [std_srvs/srv/SetBool]",
      "/camera/toggle_ir [std_srvs/srv/SetBool]",
      "/ekf_filter_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/ekf_filter_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/ekf_filter_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/ekf_filter_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/ekf_filter_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/ekf_filter_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/enable [std_srvs/srv/Empty]",
      "/joint_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/joint_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/joint_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/joint_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/joint_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/joint_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/launch_ros_36597/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/launch_ros_36597/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/launch_ros_36597/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/launch_ros_36597/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/launch_ros_36597/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/launch_ros_36597/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/republish_color_compressed/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/republish_color_compressed/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/republish_color_compressed/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/republish_color_compressed/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/republish_color_compressed/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/republish_color_compressed/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/republish_depth_compressed/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/republish_depth_compressed/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/republish_depth_compressed/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/republish_depth_compressed/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/republish_depth_compressed/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/republish_depth_compressed/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/set_pose [robot_localization/srv/SetPose]",
      "/toggle [robot_localization/srv/ToggleFilterProcessing]",
      "/wheeltec_robot/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/wheeltec_robot/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/wheeltec_robot/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/wheeltec_robot/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/wheeltec_robot/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/wheeltec_robot/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/x10/lslidar_driver_node/change_state [lifecycle_msgs/srv/ChangeState]",
      "/x10/lslidar_driver_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/x10/lslidar_driver_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/x10/lslidar_driver_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/x10/lslidar_driver_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/x10/lslidar_driver_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/x10/lslidar_driver_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]"
    ],
    "actions": []
  },
  {
    "id": "nav2_navigation",
    "name": "导航 / Nav2",
    "status": "offline-from-project",
    "category": "导航",
    "aliases": [
      "导航",
      "nav2",
      "navigation",
      "amcl",
      "planner",
      "controller",
      "路径规划",
      "定位",
      "避障"
    ],
    "description": "Nav2 启动入口，完整 topic 需要启动导航并加载地图后采集。",
    "commands": [
      "ros2 launch wheeltec_nav2 wheeltec_nav2.launch.py"
    ],
    "nodes": [],
    "topics": [
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/joint_states [sensor_msgs/msg/JointState]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/robot_description [std_msgs/msg/String]",
      "/scan [sensor_msgs/msg/LaserScan]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]"
    ],
    "services": [],
    "actions": []
  },
  {
    "id": "imu_ekf",
    "name": "IMU / EKF / 姿态融合",
    "status": "online-captured",
    "category": "IMU",
    "aliases": [
      "imu",
      "ekf",
      "gyro",
      "yesense",
      "fdilink",
      "hipnuc",
      "陀螺仪",
      "姿态",
      "航向",
      "融合"
    ],
    "description": "基础栈里已在线的 IMU/EKF 相关 topic。",
    "commands": [
      "ros2 launch turn_on_wheeltec_robot wheeltec_ekf.launch.py"
    ],
    "nodes": [
      "/base_to_gyro",
      "/ekf_filter_node"
    ],
    "topics": [
      "/imu/data_raw [sensor_msgs/msg/Imu]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/set_pose [geometry_msgs/msg/PoseWithCovarianceStamped]"
    ],
    "services": [
      "/ekf_filter_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/ekf_filter_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/ekf_filter_node/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/ekf_filter_node/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/ekf_filter_node/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/ekf_filter_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/set_pose [robot_localization/srv/SetPose]",
      "/toggle [robot_localization/srv/ToggleFilterProcessing]"
    ],
    "actions": []
  },
  {
    "id": "voice_mic",
    "name": "语音 / 麦克风 / AIUI / TTS",
    "status": "offline-from-project",
    "category": "语音",
    "aliases": [
      "语音",
      "麦克风",
      "mic",
      "voice",
      "aiui",
      "tts",
      "语音控制",
      "语音合成"
    ],
    "description": "语音和 TTS 功能来自 wheeltec_mic / wheeltec_mic_aiui / tts 包。",
    "commands": [
      "ros2 launch wheeltec_mic_ros2 mic_init.launch.py",
      "ros2 launch wheeltec_mic_aiui mic_start.launch.py",
      "ros2 launch tts tts_make.launch.py"
    ],
    "nodes": [],
    "topics": [],
    "services": [],
    "actions": []
  },
  {
    "id": "follower_modes",
    "name": "跟随 / 追踪 / follower",
    "status": "offline-from-project",
    "category": "跟随",
    "aliases": [
      "跟随",
      "追踪",
      "follower",
      "follow",
      "tracker",
      "line_follower",
      "laser_follower",
      "visual_follower",
      "radar_follower"
    ],
    "description": "跟随类 demo 包含激光跟随、雷达跟随、视觉跟随。",
    "commands": [
      "ros2 launch simple_follower_ros2 laser_follower.launch.py",
      "ros2 launch simple_follower_ros2 radar_follower.launch.py",
      "ros2 launch simple_follower_ros2 visual_follower.launch.py"
    ],
    "nodes": [],
    "topics": [
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/scan [sensor_msgs/msg/LaserScan]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]"
    ],
    "services": [],
    "actions": []
  },
  {
    "id": "vision_ai",
    "name": "视觉识别 / YOLO / ArUco / KCF",
    "status": "offline-from-project",
    "category": "视觉",
    "aliases": [
      "视觉",
      "图像识别",
      "yolo",
      "ultralytics",
      "aruco",
      "kcf",
      "bodyreader",
      "opencv",
      "marker"
    ],
    "description": "视觉识别相关包，依赖相机图像 topic。",
    "commands": [
      "ros2 launch ultralytics_ros2 yolo.launch.py",
      "ros2 launch aruco_ros single.launch.py",
      "ros2 launch wheeltec_robot_kcf wheeltec_robot_kcf.launch.py"
    ],
    "nodes": [],
    "topics": [
      "/camera/color/image_raw [sensor_msgs/msg/Image]",
      "/camera/color/image_raw/compressed [sensor_msgs/msg/CompressedImage]",
      "/camera/color/camera_info [sensor_msgs/msg/CameraInfo]",
      "/camera/depth/image_raw [sensor_msgs/msg/Image]",
      "/camera/depth/image_raw/compressed [sensor_msgs/msg/CompressedImage]",
      "/camera/depth/camera_info [sensor_msgs/msg/CameraInfo]",
      "/camera/depth/points [sensor_msgs/msg/PointCloud2]",
      "/camera/ir/image_raw [sensor_msgs/msg/Image]",
      "/camera/ir/camera_info [sensor_msgs/msg/CameraInfo]"
    ],
    "services": [],
    "actions": []
  },
  {
    "id": "gps_rtk",
    "name": "GPS / RTK / 定位",
    "status": "offline-from-project",
    "category": "GPS",
    "aliases": [
      "gps",
      "rtk",
      "gnss",
      "nmea",
      "ublox",
      "unicore",
      "定位",
      "卫星",
      "双天线"
    ],
    "description": "GPS/RTK 相关驱动和路径 launch。",
    "commands": [
      "ros2 launch wheeltec_gps_driver wheeltec_ublox_driver.launch.py",
      "ros2 launch wheeltec_gps_driver wheeltec_nmea_driver.launch.py"
    ],
    "nodes": [],
    "topics": [],
    "services": [],
    "actions": []
  },
  {
    "id": "joy_keyboard",
    "name": "手柄 / 键盘控制",
    "status": "offline-from-project",
    "category": "控制",
    "aliases": [
      "手柄",
      "遥控",
      "键盘",
      "joy",
      "joystick",
      "keyboard",
      "teleop"
    ],
    "description": "手柄和键盘控制入口，会发布 /cmd_vel。",
    "commands": [
      "ros2 launch wheeltec_joy wheeltec_joy.launch.py",
      "ros2 run wheeltec_robot_keyboard wheeltec_keyboard"
    ],
    "nodes": [],
    "topics": [
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]"
    ],
    "services": [],
    "actions": []
  },
  {
    "id": "path_tools",
    "name": "路径保存 / 路径跟随",
    "status": "offline-from-project",
    "category": "路径",
    "aliases": [
      "路径",
      "path",
      "save_path",
      "follow_path",
      "轨迹",
      "巡线"
    ],
    "description": "路径记录和路径跟随功能。",
    "commands": [
      "ros2 launch wheeltec_path_follow save_path.launch.py",
      "ros2 launch wheeltec_path_follow follow_path.launch.py"
    ],
    "nodes": [],
    "topics": [
      "/cmd_vel [geometry_msgs/msg/Twist]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]"
    ],
    "services": [],
    "actions": []
  },
  {
    "id": "robot_model_tf",
    "name": "机器人模型 / TF / URDF",
    "status": "online-captured",
    "category": "模型",
    "aliases": [
      "模型",
      "urdf",
      "robot_description",
      "tf",
      "tf_static",
      "robot_state_publisher",
      "joint_states"
    ],
    "description": "机器人模型、TF 坐标系和 joint_states。",
    "commands": [
      "ros2 launch turn_on_wheeltec_robot robot_mode_description.launch.py"
    ],
    "nodes": [
      "/base_to_camera",
      "/base_to_gyro",
      "/base_to_laser",
      "/base_to_link",
      "/base_to_radar",
      "/joint_state_publisher",
      "/robot_state_publisher"
    ],
    "topics": [
      "/joint_states [sensor_msgs/msg/JointState]",
      "/robot_description [std_msgs/msg/String]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]"
    ],
    "services": [
      "/base_to_camera/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_camera/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_camera/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_camera/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_camera/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_camera/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_gyro/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_gyro/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_gyro/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_gyro/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_gyro/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_gyro/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_laser/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_laser/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_laser/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_laser/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_laser/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_laser/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_link/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_link/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_link/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_link/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_link/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_link/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/base_to_radar/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/base_to_radar/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/base_to_radar/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/base_to_radar/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/base_to_radar/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/base_to_radar/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/joint_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/joint_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/joint_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/joint_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/joint_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/joint_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]",
      "/robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]",
      "/robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]",
      "/robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]",
      "/robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]",
      "/robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]",
      "/robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]"
    ],
    "actions": []
  },
  {
    "id": "rtabmap_3d",
    "name": "RTAB-Map / 3D 建图",
    "status": "offline-from-project",
    "category": "建图",
    "aliases": [
      "rtabmap",
      "3d",
      "三维建图",
      "点云",
      "pointcloud",
      "depth"
    ],
    "description": "RTAB-Map 和 3D 建图入口，常用相机深度图和点云。",
    "commands": [
      "ros2 launch wheeltec_robot_rtab wheeltec_slam_rtab.launch.py",
      "ros2 launch wheeltec_robot_rtab rtabmap.launch.py"
    ],
    "nodes": [],
    "topics": [
      "/camera/color/image_raw [sensor_msgs/msg/Image]",
      "/camera/color/image_raw/compressed [sensor_msgs/msg/CompressedImage]",
      "/camera/color/camera_info [sensor_msgs/msg/CameraInfo]",
      "/camera/depth/image_raw [sensor_msgs/msg/Image]",
      "/camera/depth/image_raw/compressed [sensor_msgs/msg/CompressedImage]",
      "/camera/depth/camera_info [sensor_msgs/msg/CameraInfo]",
      "/camera/depth/points [sensor_msgs/msg/PointCloud2]"
    ],
    "services": [],
    "actions": []
  },
  {
    "id": "rrt_exploration",
    "name": "RRT 探索 / 自主探索",
    "status": "offline-from-project",
    "category": "探索",
    "aliases": [
      "rrt",
      "探索",
      "exploration",
      "frontier",
      "自主探索"
    ],
    "description": "RRT 自主探索相关 launch。",
    "commands": [
      "ros2 launch wheeltec_robot_rrt wheeltec_rrt_slam.launch.py",
      "ros2 launch wheeltec_robot_rrt rrt_exploration.launch.py"
    ],
    "nodes": [],
    "topics": [
      "/map [nav_msgs/msg/OccupancyGrid]",
      "/map_metadata [nav_msgs/msg/MapMetaData]",
      "/odom [nav_msgs/msg/Odometry]",
      "/odom_combined [nav_msgs/msg/Odometry]",
      "/scan [sensor_msgs/msg/LaserScan]",
      "/slam_toolbox/scan_visualization [sensor_msgs/msg/LaserScan]",
      "/tf [tf2_msgs/msg/TFMessage]",
      "/tf_static [tf2_msgs/msg/TFMessage]"
    ],
    "services": [],
    "actions": []
  }
]