.. _Topics:

Topics
======

Topics are names under which data samples are published. Any number of subscribers can then receive the published data.

Topics are arranged in a tree and it is possible to subscribe to a whole sub-tree.
For example a subscription to ``input`` will receive samples from ``input.joy`` as well as ``input.velocity_cmd``.

Topics do not have an assigned data type, but in most cases only a specific data type is published.


input
-----

``input.joy`` [:ref:`pilot.JoyData`]
	Joystick input samples, published only when a Joystick is connected and controls are operated.

``input.velocity_cmd`` [:ref:`pilot.VelocityCmd`]
	Joystick velocity commands.

local_planner
-------------

``local_planner.state`` [:ref:`pilot.LocalPlannerState`]
	:ref:`LocalPlanner` state updates.
	
``local_planner.target_pose`` [:ref:`pilot.Pose2D`]
	:ref:`LocalPlanner` target pose updates.

localization
------------

``localization.map_tile`` [:ref:`pilot.OccupancyMapData`]
	Localization map tile, ie. current section of the :ref:`GridMap`.
	
``localization.particles`` [:ref:`pilot.PoseArray2D`]
	Localization particle swarm in ``map`` coordinates.
	
``localization.status`` [:ref:`pilot.LocalizationStatus`]
	Localization status updates.

mapping
-------

``mapping.grid_map`` [:ref:`pilot.OccupancyMapData`]
	New :ref:`GridMap` created by mapping.
	
``mapping.pose_graph`` [:ref:`pilot.RoadMapData`]
	Mapping pose graph.
	
movechain
---------

``movechain.status`` [:ref:`pilot.MovechainStatus`]
	:ref:`MovechainHandler` status updates.
	
navigation
----------

``navigation.footprint`` [:ref:`pilot.Footprint`]
	Platform footprint.
	
``navigation.global_cost_map`` [:ref:`pilot.CostMapData`]
	Global cost map.
	
``navigation.global_path`` [:ref:`pilot.Path2D`]
	Current global path in ``map`` coordinates.
	
``navigation.grid_map`` [:ref:`pilot.OccupancyMapData`]
	Current :ref:`GridMap`.
	
``navigation.initial_pose`` [:ref:`pilot.Pose2D`]
	Pose estimates to intialize Localization.
	
``navigation.local_cost_map`` [:ref:`pilot.CostMapData`]
	Local cost map.
	
``navigation.local_cost_map_overlay`` [:ref:`pilot.CostMapData`]
	Local cost map with global cost map overlayed.
	
``navigation.local_path`` [:ref:`pilot.Path2D`]
	Current optimized local path in ``odom`` coordinates.
	
``navigation.map_match`` [:ref:`pilot.MapMatch`]
	Current map match.
	
``navigation.map_pose`` [:ref:`pilot.Pose2D`]
	Current map pose in ``map`` coordinates.
	
``navigation.new_goal_pose`` [:ref:`pilot.Pose2D`]
	New goals can be published here.
	
``navigation.new_grid_map`` [:ref:`pilot.OccupancyMapData`]
	New :ref:`GridMap` can be published here.
	
``navigation.new_road_map`` [:ref:`pilot.RoadMapData`]
	New :ref:`RoadMap` can be published here.

``navigation.odom_pose`` [:ref:`pilot.Pose2D`]
	Current local pose in ``odom`` coordinates.
	
``navigation.road_map`` [:ref:`pilot.RoadMapData`]
	Current :ref:`RoadMap`.
	
``navigation.velocity_cmd`` [:ref:`pilot.VelocityCmd`]
	Velocity commands from :ref:`LocalPlanner`.

network
-------

``network.beacons`` [:ref:`pilot.Beacon`]
	Beacons for fleet management.
	
platform
--------

``platform.battery_state`` [:ref:`pilot.BatteryState`]
	Battery state updates.
	
``platform.emergency_state`` [:ref:`pilot.EmergencyState`]
	Emergency state updates.
	
``platform.events`` [:ref:`pilot.Event`, :ref:`pilot.Incident`]
	Generic events.
	
``platform.incidents`` [:ref:`pilot.Incident`]
	External incidents, to be handled by :ref:`PilotServer`.
	
``platform.active_incidents`` [:ref:`pilot.ActiveIncidents`]
	List of currently active incidents.
	
``platform.info`` [:ref:`pilot.PlatformInfo`]
	Static platform info.
	
``platform.odometry`` [:ref:`pilot.Odometry`]
	Odometry samples.
	
``platform.pilot_state`` [:ref:`pilot.PilotState`]
	Pilot state updats.
	
``platform.system_state`` [:ref:`pilot.SystemStatus`]
	System state update.
	
``platform.velocity_cmd`` [:ref:`pilot.VelocityCmd`]
	Custom velocity commands.
	
sensors
-------

``sensors.point_cloud.*`` [:ref:`pilot.PointCloud2D`, :ref:`pilot.LaserPointCloud`]
	Laser point clouds in ``odom`` coordinates.
	
task_handler
------------

``task_handler.current_task`` [:ref:`pilot.ExecutionState`]
	Current task being executed by :ref:`TaskHandler` module.
	
``task_handler.current_event_task`` [:ref:`pilot.ExecutionState`]
	Current event task being executed by :ref:`TaskHandler` module.
	
``task_handler.execution_history`` [:ref:`pilot.ExecutionHistory`]
	Execution history of :ref:`TaskHandler` module.

``task_handler.event_history`` [:ref:`pilot.ExecutionHistory`]
	Event execution history of :ref:`TaskHandler` module.
	
tf
--

``tf.map.odom`` [:ref:`pilot.Pose2D`]
	Localization updates.

``tf.odom.base_link`` [:ref:`pilot.Odometry`]
	Odometry samples.
	
tfd.map
-------

``tfd.map.local_planner.target_pose`` [:ref:`pilot.Pose2D`]
	Same as `local_planner.target_pose` but in ``map`` coordinates.

``tfd.map.navigation.local_path`` [:ref:`pilot.Pose2D`]
	Same as `navigation.local_path` but in ``map`` coordinates.
	
``tfd.map.sensors.point_cloud.*`` [:ref:`pilot.Pose2D`]
	Same as `sensors.point_cloud.*` but in ``map`` coordinates.
	
vnx
---

``vnx.log_out`` [:ref:`vnx.LogMsg`]
	Terminal log messags.
	
``vnx.module_info`` [:ref:`vnx.ModuleInfo`]
	Module info updates.

``vnx.recorder_status`` [:ref:`vnx.RecorderStatus`]
	Status information of the data recorder, when active.