Interfacing d.ASH Autonomy Engine with ROS

This section of the d.ASH SDK documentation provides details about using ROS with the d.ASH autonomy engine. Described below are ROS topics, along with their type and functionality.

4.1 Publications

Topic	Type	Function
/active_path	nav_mgs/Path	Returns current path being executed.
/image	sensor_msgs/Image	Returns sensor image.
/initial_pose	geometry_msgs/PoseWithCovarianceStamped	Returns initial pose estimate for localization.
/localization_status	std_msgs/String	Returns status of localization certainty.
/mcl_pose_marker	visualization_msgs/Marker	Returns current localization position.
/nearest_wpts	visualization_msgs/Marker	Returns nearest waypoints for the robot to follow.
/odom	nav_msgs/Odometry	Returns odometry reading.
/original_path	nav_msgs/Path	Returns original path before processing.
/particle_array	geometry_msgs/PoseArray	Returns localization particle certainty.
/tracking_wpt	std_msgs/Float32MultiArray	Returns nearest waypoints for the robot to follow.

4.2 Subscriptions

Topic	Type	Function
/cmd_vel	geometry_msgs/Twist	Accepts manual command velocity.
/imu	sensor_msgs/Imu	Accepts imu sensor data.
/initial_pose	geometry_msgs/PoseWithCovarianceStamped	Accepts initial pose estimate for localization.
/joy	sensor_msgs/Joy	Accepts joystick message.
/move_base_simple/goal	geometry_msgs/PoseStamped	Accepts final goal from RVIZ.
/odom	nav_msgs/Odometry	Accepts odometry reading.
/lidar_points	sensor_msgs/PointCloud2	Accepts lidar scan.