ADORe ROS Topics

Topics

The follow section enumerates the ROS Topics and Datatypes used by ADORe.

Topic	Datatype	Description
/ego_vehicle/infrastructure_info	adore_ros2_msgs/msg/InfrastructureInfo	Infrastructure element data including position, orientation, and validity area for roadside infrastructure
/ego_vehicle/vehicle_state/dynamic	adore_ros2_msgs/msg/VehicleStateDynamic	Real-time vehicle dynamics including position, velocity, acceleration, yaw angle, and steering information
/parameter_events	rcl_interfaces/msg/ParameterEvent	ROS2 parameter change notifications for dynamic reconfiguration
/tf	tf2_msgs/msg/TFMessage	Dynamic coordinate frame transforms for spatial relationships between vehicle components
/tf_static	tf2_msgs/msg/TFMessage	Static coordinate frame transforms that don't change over time
/ego_vehicle/map_grid	nav_msgs/msg/OccupancyGrid	2D occupancy grid representation of the environment for visualization
/ego_vehicle/visualize_ego_vehicle	visualization_msgs/msg/MarkerArray	3D visualization markers representing the ego vehicle for RViz display
/rosout	rcl_interfaces/msg/Log	ROS2 logging output with different severity levels (DEBUG, INFO, WARN, ERROR, FATAL)