ROS Communication Overview

Topics

List of topics with the message type and a brief description.

Topic Name	MSG type	Description
/ariac/orders	ariac_msgs/msg/Order	Orders that the competitors should submit
/ariac/competition_state	ariac_msgs/msg/CompetitionState	Current state of the competition
/ariac/bin_parts	ariac_msgs/msg/BinParts	Parts in each bin at program start-up
/ariac/conveyor_parts	ariac_msgs/msg/ConveyorParts	Parts that will come on the conveyor belt
/ariac/agv{n}_status	ariac_msgs/msg/AGVStatus	State of the AGV {n} (location, position, velocity)
/ariac/{robot}_gripper_state	ariac_msgs/msg/VacuumGripperState	State of {robot}’s gripper (enabled, attached, type)
/ariac/conveyor_state	ariac_msgs/msg/ConveyorBeltState	State of the conveyor (enabled, power)
/ariac/robot_health	ariac_msgs/msg/Robots	Health of the robots
/ariac/sensor_health	ariac_msgs/msg/Sensors	Health of the sensors

Services

List of service with the service type and a brief description.

Service Name	SRV type	Description
/ariac/start_competition	std_srvs/srv/Trigger	Start the competition
/ariac/end_competition	std_srvs/srv/Trigger	End the competition
/ariac/submit_order	ariac_msgs/srv/SubmitOrder	Submit an order with the requested order_id
/ariac/perform_quality_check	ariac_msgs/srv/PerformQualityCheck	Check the quality of a kitting order with the requested order_id
/ariac/move_agv{n}	ariac_msgs/srv/MoveAGV	Move the AGV {n} to the requested location
/ariac/agv{n}_lock_tray	std_srvs/srv/Trigger	Lock a kit tray to AGV {n}
/ariac/agv{n}_unlock_tray	std_srvs/srv/Trigger	Unlock a kit tray to AGV {n}
/ariac/{robot}_enable_gripper	ariac_msgs/srv/VacuumGripperControl	Set the state of {robot}’s gripper to the request state
/ariac/{robot}_change_gripper	ariac_msgs/srv/ChangeGripper	Change the type of {robot}’s gripper to the request type

Sensor Topics

List of sensor topics and their msg types:

Sensor Type	Topic name(s)	MSG type
break_beam	/ariac/sensors/{sensor_name}/status /ariac/sensors/{sensor_name}/status	ariac_msgs/BreakBeamStatus ariac_msgs/BreakBeamStatus
proximity	/ariac/sensors/{sensor_name}/scan	sensor_msgs/Range
laser_profiler	/ariac/sensors/{sensor_name}/scan	sensor_msgs/LaserScan
lidar	/ariac/sensors/{sensor_name}/scan	sensor_msgs/PointCloud
rgb_camera	/ariac/sensors/{sensor_name}/rgb_image	sensor_msgs/Image sensor_msgs/Image
rgbd_camera	/ariac/sensors/{sensor_name}/rgb_image /ariac/sensors/{sensor_name}/depth_image	sensor_msgs/Image
basic_logical_camera	/ariac/sensors/{sensor_name}/image	ariac_msgs/BasicLogicalCameraImage
advanced_logical_camera	/ariac/sensors/{sensor_name}/image	ariac_msgs/AdvancedLogicalCameraImage