ROS 2 graph
Every topic, service and action OpenRAL's own nodes declare, joined on name.
Extracted statically from python/, packages/, tools/ and cpp/ (tests excluded),
so it shows the wiring the code can create; which parts run depends on the
robot manifest and launch arguments. A [param x] note on an endpoint means the
name is that ROS parameter's declared default, overridable at launch. A row with
— on one side talks to something outside this repo (ros2_control,
Nav2, a driver) or is a dead end worth checking. A {placeholder} in a
per-instance name is filled at runtime (a robot id, a manifest sensor name);
rows join only on identical placeholder text, except that every
openral_core.camera_topic(<name>) is {sensor} — a SensorSpec.name by contract.
Regenerate with uv run python tools/gen_ros_topic_graph.py;
just lint and pre-commit fail when this page is stale.
Topics (50)
| Name | Type | Publishers | Subscribers |
|---|---|---|---|
/clock |
rosgraph_msgs/Clock |
python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) | — |
/cmd_vel |
geometry_msgs/Twist |
— | packages/openral_nav2_bringup/openral_nav2_bringup/twist_to_action_relay_node.py (main.TwistToActionRelayNode.init) [param cmd_vel_topic]python/hal/src/openral_hal/mobile_base_bridge.py (MobileBaseBridge.setup) |
/collision_markers |
MarkerArray |
tools/viz_collision.py (_run_rviz) | — |
/diagnostics |
diagnostic_msgs/DiagnosticArray |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp python/observability/src/openral_observability/diagnostics.py (DiagnosticsHeartbeat.create_publisher) |
— |
/joint_states |
sensor_msgs/JointState |
python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) tools/cloud_transport_probe.py (run_pub) [param --joint-topic]tools/viz_collision.py (_run_rviz) |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_octomap_bridge/src/robot_self_filter.hpp [param joint_states_topic]packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) [param joint_states_topic]python/hal/src/openral_hal/ros_control_transport.py (RosControlTransport.init) python/runner/src/openral_runner/ros_publishing_hal.py (ROSPublishingHAL.connect) |
/local_costmap/published_footprint |
geometry_msgs/PolygonStamped |
— | tools/_nav2_mppi_loop_probe.py (Probe.init) |
/map |
nav_msgs/OccupancyGrid |
— | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) [param occupancy_map_topic]python/runner/src/openral_runner/slam_bridge.py (SlamMapBridge.init) |
/octomap_binary |
octomap_msgs/Octomap |
— | packages/openral_octomap_bridge/src/octomap_voxel_bridge.hpp [param octomap_topic] |
/octomap_point_cloud_centers |
sensor_msgs/PointCloud2 |
— | python/runner/src/openral_runner/world_cloud_bridge.py (WorldCloudBridge.init) |
/odom |
nav_msgs/Odometry |
python/hal/src/openral_hal/mobile_base_bridge.py (MobileBaseBridge.setup) | — |
/openral/action_applied |
std_msgs/UInt64 |
python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) | python/runner/src/openral_runner/ros_publishing_hal.py (ROSPublishingHAL.connect) |
/openral/attachment_state |
openral_msgs/AttachmentState |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_attachment_state) python/hal/src/openral_hal/vision_attachment_bridge.py (VisionAttachmentBridge.setup) |
packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) [param attachment_state_topic]python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_attachment_state) tools/_validation_matrix_monitor.py (Monitor.init) |
/openral/attachment_state_applied |
std_msgs/UInt64 |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp | python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_attachment_state) tools/_validation_matrix_monitor.py (Monitor.init) |
/openral/candidate_action |
openral_msgs/ActionChunk |
python/runner/src/openral_runner/ros_publishing_hal.py (ROSPublishingHAL.connect) | cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_safety/openral_safety/supervisor_node.py (SafetyPassthroughNode.on_configure) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_estop_ground_truth) python/runner/src/openral_runner/dataset_recorder_bridge.py (DatasetRecorderBridge.init) |
/openral/critic/score |
openral_msgs/CriticScore |
packages/openral_perception_ros/openral_perception_ros/reward_monitor_node.py (main.RewardMonitorNode.init) [param critic_score_topic] |
packages/openral_reasoner_ros/openral_reasoner_ros/critic_producer_node.py (CriticProducerNode.init) [param score_topic] |
/openral/episode |
openral_msgs/Episode |
packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) | python/runner/src/openral_runner/dataset_recorder_bridge.py (DatasetRecorderBridge.init) |
/openral/estop |
std_msgs/Empty |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_human_estop/openral_human_estop/forwarder_node.py (HumanEstopForwarderNode.on_configure) packages/openral_safety/openral_safety/supervisor_node.py (SafetyPassthroughNode.on_configure) packages/openral_safety_watchdog/openral_safety_watchdog/deadman_watchdog_node.py (DeadmanWatchdogNode.on_configure) packages/openral_safety_watchdog/openral_safety_watchdog/hardware_estop_node.py (HardwareEstopNode.on_configure) python/observability/src/openral_observability/dashboard/estop_publisher.py (EstopPublisher._start) |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) [param estop_topic]packages/openral_safety/openral_safety/supervisor_node.py (SafetyPassthroughNode.on_configure) packages/openral_safety_watchdog/openral_safety_watchdog/deadman_watchdog_node.py (DeadmanWatchdogNode.on_configure) python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_estop_ground_truth) tools/_validation_matrix_monitor.py (Monitor.init) |
/openral/estop_cleared |
std_msgs/Empty |
python/cli/src/openral_cli/estop.py (estop_reset_command) python/observability/src/openral_observability/dashboard/estop_publisher.py (EstopPublisher._start) |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) |
/openral/failure/rskill |
openral_msgs/FailureTrigger |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) | — |
/openral/failure/safety |
openral_msgs/FailureTrigger |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_human_estop/openral_human_estop/forwarder_node.py (HumanEstopForwarderNode.on_configure) packages/openral_safety_watchdog/openral_safety_watchdog/deadman_watchdog_node.py (DeadmanWatchdogNode.on_configure) packages/openral_safety_watchdog/openral_safety_watchdog/hardware_estop_node.py (HardwareEstopNode.on_configure) |
packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_estop_ground_truth) tools/_validation_matrix_monitor.py (Monitor.init) |
/openral/grasp_declaration |
openral_msgs/GraspDeclaration |
packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) | python/hal/src/openral_hal/_grasp_target_leg.py (GraspTargetLeg.setup) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_grasp_declaration) |
/openral/human_estop |
std_msgs/Empty |
— | packages/openral_human_estop/openral_human_estop/forwarder_node.py (HumanEstopForwarderNode.on_configure) |
/openral/nav2/scan |
sensor_msgs/LaserScan |
packages/openral_nav2_bringup/openral_nav2_bringup/payload_scan_filter_node.py (main.PayloadScanFilterNode.init) [param output_topic] |
— |
/openral/nvblox/depth_filtered/camera_info |
sensor_msgs/CameraInfo |
packages/openral_slam_bringup/openral_slam_bringup/depth_height_filter_node.py (main.DepthHeightFilterNode.init) [param output_camera_info_topic] |
— |
/openral/nvblox/depth_filtered/image |
sensor_msgs/Image |
packages/openral_slam_bringup/openral_slam_bringup/depth_height_filter_node.py (main.DepthHeightFilterNode.init) [param output_depth_topic] |
— |
/openral/perception/detector_query |
std_msgs/String |
— | packages/openral_perception_ros/openral_perception_ros/ros_image_detector_node.py (main.RosImageObjectDetectorNode.on_activate) [param query_topic] |
/openral/perception/masks |
openral_msgs/SegmentMasks |
packages/openral_perception_ros/openral_perception_ros/segmenter_node.py (_node_class.SegmenterNode._open_debug_masks_publisher) [param debug_masks_topic] |
python/observability/src/openral_observability/dashboard/perception_overlay_subscriber.py (PerceptionOverlaySubscriber._start) |
/openral/perception/objects |
openral_msgs/PromptStamped |
packages/openral_perception_ros/openral_perception_ros/ros_image_detector_node.py (main.RosImageObjectDetectorNode.on_configure) [param output_topic] |
packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) [param object_detections_topic]python/observability/src/openral_observability/dashboard/perception_overlay_subscriber.py (PerceptionOverlaySubscriber._start) |
/openral/place_declaration |
openral_msgs/PlaceDeclaration |
packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) | python/hal/src/openral_hal/_place_target_leg.py (PlaceTargetLeg.setup) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_place_declaration) |
/openral/policy_state |
std_msgs/Float32MultiArray |
python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) | packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) |
/openral/prompt |
openral_msgs/PromptStamped |
packages/openral_prompt_router/openral_prompt_router/prompt_router_node.py (PromptRouterNode.on_configure) packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
/openral/reward/active_task |
std_msgs/String |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) |
packages/openral_perception_ros/openral_perception_ros/reward_monitor_node.py (main.RewardMonitorNode.init) python/hal/src/openral_hal/lifecycle.py (ManifestHALLifecycleNode._subscribe_active_task) |
/openral/safe_action |
openral_msgs/ActionChunk |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_safety/openral_safety/supervisor_node.py (SafetyPassthroughNode.on_configure) |
packages/openral_safety_watchdog/openral_safety_watchdog/deadman_watchdog_node.py (DeadmanWatchdogNode.on_configure) python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) |
/openral/safety_status |
openral_msgs/SafetyStatus |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_safety/openral_safety/supervisor_node.py (SafetyPassthroughNode.on_configure) |
packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) packages/openral_safety_watchdog/openral_safety_watchdog/deadman_watchdog_node.py (DeadmanWatchdogNode.on_configure) [param safety_status_topic]python/observability/src/openral_observability/dashboard/safety_status_subscriber.py (SafetyStatusSubscriber._start) |
/openral/skill_registry_changed |
std_msgs/Empty |
tools/wait_for_action_and_signal_palette.py (main) [param --signal-topic] |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
/openral/visual_slam/odometry |
nav_msgs/Odometry |
packages/openral_slam_bringup/openral_slam_bringup/pycuvslam_node.py (main.PyCuVSLAMNode.init) [param odometry_topic] |
— |
/openral/viz/attachments |
visualization_msgs/MarkerArray |
packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) | — |
/openral/viz/collisions |
visualization_msgs/MarkerArray |
packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) | — |
/openral/viz/static_geometry |
visualization_msgs/MarkerArray |
packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) | — |
/openral/world_state_fast |
openral_msgs/WorldStateStamped |
packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) | cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_nav2_bringup/openral_nav2_bringup/payload_scan_filter_node.py (main.PayloadScanFilterNode.init) [param world_state_topic]packages/openral_octomap_bridge/src/octomap_voxel_bridge.hpp [param world_state_topic]packages/openral_octomap_bridge/src/robot_self_filter.hpp [param world_state_topic]tools/_nav2_costmap_silhouette_probe.py (SilhouetteProbe.init) tools/_validation_matrix_monitor.py (Monitor.init) |
/openral/world_state_slow |
openral_msgs/WorldStateStamped |
packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
/openral/world_voxels |
openral_msgs/OccupancyVoxels |
packages/openral_octomap_bridge/src/octomap_voxel_bridge.hpp [param output_topic]tools/voxel_transport_probe.py (run_pub) |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) [param object_voxels_topic]python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_attachment_state) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_estop_ground_truth) python/hal/src/openral_hal/vision_attachment_bridge.py (VisionAttachmentBridge.setup) tools/_validation_matrix_monitor.py (Monitor.init) tools/voxel_transport_probe.py (run_sub) |
/openral/world_voxels_cloud |
sensor_msgs/PointCloud2 |
packages/openral_foxglove_bringup/openral_foxglove_bringup/bucket2_markers.py (Bucket2MarkersNode.init) | — |
/probe/cloud |
sensor_msgs/PointCloud2 |
tools/cloud_transport_probe.py (run_pub) [param --topic] |
tools/cloud_transport_probe.py (run_sub) [param --topic] |
/scan |
sensor_msgs/LaserScan |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_scan) | packages/openral_nav2_bringup/openral_nav2_bringup/payload_scan_filter_node.py (main.PayloadScanFilterNode.init) [param input_topic] |
cloud_in |
sensor_msgs/PointCloud2 |
— | packages/openral_octomap_bridge/src/robot_self_filter.hpp |
cloud_out |
sensor_msgs/PointCloud2 |
packages/openral_octomap_bridge/src/robot_self_filter.hpp | — |
cloud_out_rgb |
sensor_msgs/PointCloud2 |
packages/openral_octomap_bridge/src/robot_self_filter.hpp | — |
~/joint_states |
sensor_msgs/JointState |
python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase.on_activate) | — |
~/urdf_joint_states |
msg_type |
python/hal/src/openral_hal/lifecycle.py (HALLifecycleNodeBase._open_urdf_joint_state_pub) | — |
Per-instance topics (10)
| Name | Type | Publishers | Subscribers |
|---|---|---|---|
/openral/cameras/{sensor}/camera_info |
sensor_msgs/CameraInfo |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._advertise_camera) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._colour_publishers) |
— |
/openral/cameras/{sensor}/depth/camera_info |
sensor_msgs/CameraInfo |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_depth) | — |
/openral/cameras/{sensor}/depth/image |
sensor_msgs/Image |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_depth) | — |
/openral/cameras/{sensor}/image |
sensor_msgs/Image |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._advertise_camera) python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._colour_publishers) |
packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode.on_configure) |
/openral/cameras/{sensor}/points |
sensor_msgs/PointCloud2 |
python/hal/src/openral_hal/sim_sensor_bridge.py (SimSensorBridge._setup_depth) | — |
/openral/failure/{source} |
openral_msgs/FailureTrigger |
— | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
/openral/perception/{detector.kind} |
openral_msgs/PromptStamped |
python/runner/src/openral_runner/backends/gstreamer/perception_tee.py (PerceptionEventPublisher.start) | — |
/openral/perception/{kind} |
openral_msgs/PromptStamped |
— | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
/openral/prompt_in/{source} |
openral_msgs/PromptStamped |
— | packages/openral_prompt_router/openral_prompt_router/prompt_router_node.py (PromptRouterNode.on_configure) |
/{which}_costmap/costmap_raw |
nav2_msgs/Costmap |
— | tools/_nav2_costmap_silhouette_probe.py (SilhouetteProbe.init) |
Services (5)
| Name | Type | Servers | Clients |
|---|---|---|---|
/openral/estop_reset |
std_srvs/Trigger |
cpp/openral_safety_kernel/src/lifecycle_kernel.cpp packages/openral_safety/openral_safety/supervisor_node.py (SafetyPassthroughNode.on_configure) |
python/cli/src/openral_cli/estop.py (estop_reset_command) |
/openral/perception/locate_in_view |
openral_msgs/LocateInView |
packages/openral_perception_ros/openral_perception_ros/ros_image_detector_node.py (main.RosImageObjectDetectorNode.on_configure) [param locate_in_view_service] |
— |
/openral/perception/query_scene |
openral_msgs/QueryScene |
packages/openral_perception_ros/openral_perception_ros/scene_vlm_node.py (main.SceneVlmNode.init) | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode._dispatch_query_scene) |
/openral/perception/query_task_progress |
openral_msgs/QueryTaskProgress |
packages/openral_perception_ros/openral_perception_ros/reward_monitor_node.py (main.RewardMonitorNode.init) | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode._dispatch_query_task_progress) packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode._maybe_verify_active_mission_task) |
/openral/perception/segment_in_view |
openral_msgs/SegmentInView |
packages/openral_perception_ros/openral_perception_ros/segmenter_node.py (_node_class.SegmenterNode.on_configure) [param segment_in_view_service] |
— |
Per-instance services (7)
| Name | Type | Servers | Clients |
|---|---|---|---|
/openral/{robot}/reset_episode |
std_srvs/Trigger |
python/hal/src/openral_hal/lifecycle.py (ManifestHALLifecycleNode._open_reset_episode_service) | — |
/openral/{robot}/reset_to_pose |
openral_msgs/ResetToPose |
python/hal/src/openral_hal/lifecycle.py (ManifestHALLifecycleNode.on_configure_post_hal) | — |
/{ns}/torque_enable |
interbotix_xs_msgs/TorqueEnable |
— | python/hal/src/openral_hal/interbotix_transport.py (InterbotixXSTransport.init) |
{lifecycle_node_name}/get_state |
lifecycle_msgs/GetState |
— | tools/wait_for_action_and_signal_palette.py (_lifecycle_active) |
{node}/change_state |
lifecycle_msgs/ChangeState |
— | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode._change_state_async) |
{self._controller_manager}/list_controllers |
controller_manager_msgs/ListControllers |
— | python/hal/src/openral_hal/ros_control_transport.py (RosControlTransport.init) |
{self._controller_manager}/switch_controller |
controller_manager_msgs/SwitchController |
— | python/hal/src/openral_hal/ros_control_transport.py (RosControlTransport.init) |
Actions (2)
| Name | Type | Servers | Clients |
|---|---|---|---|
/openral/execute_rskill |
openral_msgs/ExecuteRskill |
packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py (RskillRunnerNode.on_configure) | packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) tools/_validation_matrix_dispatch.py (main) |
navigate_to_pose |
nav2_msgs/NavigateToPose |
— | tools/_nav2_costmap_silhouette_probe.py (_drive) tools/_nav2_mppi_loop_probe.py (Probe.init) |
Unresolved endpoints (40)
Names only known at runtime (built from a manifest, a robot id or a caller's argument). Shown as their source expression.
| Kind | Role | Name expression | Type | Where |
|---|---|---|---|---|
| action | client | self._integration.interface_name |
type_obj |
python/rskill/src/openral_rskill/ros_action_rskill.py (ROSActionRskill._configure_impl) |
| service | client | self._config.service_name |
openral_msgs/SegmentInView |
python/hal/src/openral_hal/vision_attachment_bridge.py (VisionAttachmentBridge.setup) |
| service | client | self._integration.interface_name |
type_obj |
python/rskill/src/openral_rskill/ros_action_rskill.py (ROSActionRskill._configure_impl) |
| service | client | service |
openral_msgs/LocateInView |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode._dispatch_locate_in_view) |
| service | client | service |
std_srvs/Trigger |
python/hal/src/openral_hal/ros_control_transport.py (RosControlTransport.init) |
| service | client | service_name |
srv_type |
tools/lifecycle_autostart.py (_wait_for_service) |
| topic | pub | camera_info_topic_for(self._topic) |
sensor_msgs/CameraInfo |
python/runner/src/openral_runner/backends/gstreamer/ros_tee.py (RosImagePublisher._start_ros) |
| topic | pub | gp('camera_info_topic').get_parameter_value().string_value |
sensor_msgs/CameraInfo |
packages/openral_perception_ros/openral_perception_ros/depth_provider_node.py (main.DepthProviderNode.init) |
| topic | pub | gp('depth_topic').get_parameter_value().string_value |
sensor_msgs/Image |
packages/openral_perception_ros/openral_perception_ros/depth_provider_node.py (main.DepthProviderNode.init) |
| topic | pub | points_topic |
sensor_msgs/PointCloud2 |
packages/openral_perception_ros/openral_perception_ros/depth_provider_node.py (main.DepthProviderNode.init) |
| topic | pub | self._info_topic |
sensor_msgs/CameraInfo |
python/sensors/src/openral_sensors/ros_publisher.py (SensorRosPublisher.prepare) |
| topic | pub | self._topic |
openral_msgs/FailureTrigger |
python/observability/src/openral_observability/failure_bus.py (FailureBusPublisher.create_publisher) |
| topic | pub | self._topic |
sensor_msgs/Image |
python/runner/src/openral_runner/backends/gstreamer/ros_tee.py (RosImagePublisher._start_ros) |
| topic | pub | self._topic |
sensor_msgs/Image |
python/sensors/src/openral_sensors/ros_publisher.py (SensorRosPublisher.prepare) |
| topic | pub | t |
geometry_msgs/Polygon |
tools/_nav2_mppi_loop_probe.py (Probe.init) |
| topic | pub | target_topic |
openral_msgs/PromptStamped |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode._emit_prompt_publisher) |
| topic | pub | topic |
_message_type(self._kinds[topic]) |
python/hal/src/openral_hal/ros_control_transport.py (RosControlTransport.init) |
| topic | pub | topic |
openral_msgs/PromptStamped |
python/cli/src/openral_cli/prompt.py (prompt_command) |
| topic | pub | topic |
sensor_msgs/JointState |
tools/joint_state_staleness_probe.py (run) |
| topic | pub | topic |
std_msgs/Empty |
python/hal/src/openral_hal/ros_control_transport.py (RosControlTransport.init) |
| topic | sub | arm_status_topic |
action_msgs/GoalStatusArray |
packages/openral_safety_watchdog/openral_safety_watchdog/deadman_watchdog_node.py (DeadmanWatchdogNode.on_configure) |
| topic | sub | completion_camera_topic |
sensor_msgs/Image |
packages/openral_reasoner_ros/openral_reasoner_ros/reasoner_node.py (ReasonerNode.on_configure) |
| topic | sub | depth_topic |
sensor_msgs/PointCloud2 |
packages/world_state/openral_world_state_ros/lifecycle_node.py (_WorldStateLifecycleNode._setup_depth_points_fallback) |
| topic | sub | gp('image_topic').get_parameter_value().string_value |
sensor_msgs/Image |
packages/openral_perception_ros/openral_perception_ros/depth_provider_node.py (main.DepthProviderNode.init) |
| topic | sub | gp('input_camera_info_topic').get_parameter_value().string_value |
sensor_msgs/CameraInfo |
packages/openral_slam_bringup/openral_slam_bringup/depth_height_filter_node.py (main.DepthHeightFilterNode.init) |
| topic | sub | gp('input_depth_topic').get_parameter_value().string_value |
sensor_msgs/Image |
packages/openral_slam_bringup/openral_slam_bringup/depth_height_filter_node.py (main.DepthHeightFilterNode.init) |
| topic | sub | gp('left_camera_info_topic').get_parameter_value().string_value |
sensor_msgs/CameraInfo |
packages/openral_slam_bringup/openral_slam_bringup/pycuvslam_node.py (main.PyCuVSLAMNode._setup_inputs) |
| topic | sub | gp('right_camera_info_topic').get_parameter_value().string_value |
sensor_msgs/CameraInfo |
packages/openral_slam_bringup/openral_slam_bringup/pycuvslam_node.py (main.PyCuVSLAMNode._setup_inputs) |
| topic | sub | rgb_info_topic |
sensor_msgs/CameraInfo |
packages/openral_perception_ros/openral_perception_ros/depth_provider_node.py (main.DepthProviderNode.init) |
| topic | sub | self._camera_info_topic() |
sensor_msgs/CameraInfo |
python/hal/src/openral_hal/vision_attachment_bridge.py (VisionAttachmentBridge.setup) |
| topic | sub | self._config.self_filtered_cloud_topic |
sensor_msgs/PointCloud2 |
python/hal/src/openral_hal/vision_attachment_bridge.py (VisionAttachmentBridge.setup) |
| topic | sub | self._depth_topic() |
sensor_msgs/Image |
python/hal/src/openral_hal/vision_attachment_bridge.py (VisionAttachmentBridge.setup) |
| topic | sub | self._topic |
sensor_msgs/Image |
python/runner/src/openral_runner/backends/ros2_image.py (Ros2ImageSensorReader.open) |
| topic | sub | topic |
geometry_msgs/Twist |
tools/_nav2_mppi_loop_probe.py (Probe.init) |
| topic | sub | topic |
sensor_msgs/CameraInfo |
packages/openral_perception_ros/openral_perception_ros/ros_image_detector_node.py (main.RosImageObjectDetectorNode.on_configure) |
| topic | sub | topic |
sensor_msgs/CameraInfo |
packages/openral_perception_ros/openral_perception_ros/segmenter_node.py (_node_class.SegmenterNode.on_configure) |
| topic | sub | topic |
sensor_msgs/Image |
packages/openral_perception_ros/openral_perception_ros/reward_monitor_node.py (main.RewardMonitorNode.init) |
| topic | sub | topic |
sensor_msgs/Image |
packages/openral_perception_ros/openral_perception_ros/ros_image_detector_node.py (main.RosImageObjectDetectorNode.on_configure) |
| topic | sub | topic |
sensor_msgs/Image |
packages/openral_perception_ros/openral_perception_ros/scene_vlm_node.py (main.SceneVlmNode.init) |
| topic | sub | topic |
sensor_msgs/Image |
packages/openral_perception_ros/openral_perception_ros/segmenter_node.py (_node_class.SegmenterNode.on_configure) |
Launch remappings (14)
| From | To | Launch file |
|---|---|---|
camera_0/depth/camera_info |
‹filtered_depth_camera_info_topic› | packages/openral_slam_bringup/launch/nvblox.launch.py |
camera_0/depth/image |
‹filtered_depth_image_topic› | packages/openral_slam_bringup/launch/nvblox.launch.py |
cloud_in |
‹octomap_cloud_topic› | packages/openral_rskill_ros/launch/deploy_e2e.launch.py |
cloud_in |
‹octomap_input_topic› | packages/openral_rskill_ros/launch/deploy_e2e.launch.py |
cloud_out_rgb |
‹_SELF_FILTERED_RGB_CLOUD_TOPIC› | packages/openral_rskill_ros/launch/deploy_e2e.launch.py |
cloud_out |
‹_SELF_FILTERED_CLOUD_TOPIC› | packages/openral_rskill_ros/launch/deploy_e2e.launch.py |
in |
‹topic› | packages/openral_foxglove_bringup/launch/foxglove.launch.py |
out/compressed |
‹topic + '/compressed'› | packages/openral_foxglove_bringup/launch/foxglove.launch.py |
visual_slam/camera_info_0 |
‹LaunchConfiguration('camera_info_0_topic')› | packages/openral_slam_bringup/launch/cuvslam.launch.py |
visual_slam/camera_info_1 |
‹LaunchConfiguration('camera_info_1_topic')› | packages/openral_slam_bringup/launch/cuvslam.launch.py |
visual_slam/image_0 |
‹LaunchConfiguration('image_0_topic')› | packages/openral_slam_bringup/launch/cuvslam.launch.py |
visual_slam/image_1 |
‹LaunchConfiguration('image_1_topic')› | packages/openral_slam_bringup/launch/cuvslam.launch.py |
visual_slam/imu |
‹LaunchConfiguration('imu_topic')› | packages/openral_slam_bringup/launch/cuvslam.launch.py |
~/static_occupancy_grid |
‹LaunchConfiguration('map_topic')› | packages/openral_slam_bringup/launch/nvblox.launch.py |