[ { "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": [] } ]