rostopic info /<topic name>

rostopic echo /<topic name>

rostopic pub /<topic name> ...

rostopic echo /sens
# received data
left_hand: False # capacitive sensor in the left palm
right_hand: False # capacitive sensor in the right palm
head_left: False # capacitive sensor in the left ear
head_right: False # capacitive sensor in the right ear
head_center: False # capacitive sensor in the center of the head

When right_hand or left_hand triggered, robot starts to bend fingers of right or left hand respectively.

When head_left or head_right or head_center triggered, robot's ears light up yellow.

rostopic pub /sens promobot_msgs/TouchSens "{left_hand: false, right_hand: false, head_left: false, head_right: false, head_center: false}" -1
# passing true to any key will imitate touch

rostopic echo /asr
# received data
data: True # if robot is not pronouncing the text at this moment and is ready to listen to the person
---
data: False # if robot is pronouncing the text at this moment and can't listen to the person
---

rostopic echo /asr/result
# received data
header: 
  seq: 127 # number of recognition iterations since launch
  stamp: # publication time
    secs: 1617172367
    nsecs: 814594122
  frame_id: "asr" # asr id
source: 0 # sound source
uuid: "7d607d83-a98d-42cf-8e83-f0bcce857c91" # unique identificator
text: "hello" # recognized text
final: 1 # recognition status (1 - done, 0 - in progress)
conf: 0.899999976158 # data from google, recognition confidence coefficient
---

rostopic pub /asr std_msgs/Bool "data: true" -1 # launch speech recognition

rostopic pub /asr std_msgs/Bool "data: false" -1 # stop speech recognition

rostopic pub /asr/result promobot_msgs/ASRResult "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
source: 0
uuid: 'cb2726de-91f2-11eb-a8b3-0242ac130003' # you can generate it here: https://www.uuidgenerator.net/version1 
text: 'test' # text for recognititon
final: 1  # inform the service that the replica is complete 
conf: 1.0" # specify the coefficient

rostopic echo /tts/process
# received data
status: True # replica is being pronounced now
uuid: "{460467e7-bdee-4b28-804b-fe35dbf296a1}" # replica unique identifier
---
status: False # replica pronunciation is completed
uuid: "{460467e7-bdee-4b28-804b-fe35dbf296a1}" # replica unique identifier
---

rostopic echo /tts/start 
# received data
text: "My name is Promobot" # text which is being pronounced by robot
terminate: True # whether the replica can be aborted or not
uuid: "{9597cd61-8eb5-4dfc-a5c9-994492f5355a}" # replica unique identifier
ignore_saving: False # this logic is used in microphone array

rostopic pub /tts/cancel std_msgs/Empty "{}" -1 # cancels the pronunciation of the replica

rostopic pub /tts/start promobot_msgs/TTSCommand "text: 'test phrase' # sending the replica to pronunciation
terminate: false
uuid: ''
ignore_saving: false" 

rostopic echo /volume
# received data
data: 81 # volume level
---

pactl set-sink-volume $PROMOBOT_SINK_DEFAULT 30%  # set volume level 30%

rostopic echo /mic
# received data
data: 81 # microphone sensitivity level
---

pactl set-source-volume $PROMOBOT_SOURCE_DEFAULT 30%  # set the microphone sensitivity level to 30%

rostopic echo /drive/mode
# received data
data: 0 # controller mode 
---
data: 1 # auto mode
---

rostopic echo /drive/radius
# received data
data: 5 # radius in meters
---

rostopic echo /drive/pause
# received data
data: False # robot is about to go / is going
---
data: True # robot is on pause
---

rostopic echo /drive/station
# received data
data: True # robot is driving to the charging station
---
data: False # robot is not trying to drive to the charging station
---

rostopic echo /drive/status
# received data
data: X
---
X - statuses: 
0 - waiting
1 - start of movement
2 - end of movement
3 - cancel
4 - obstacle
5 - robot cannot turn
6 - robot is out of range (movement radius)
7 - module timed out
8 - module exited with an error
9 - module completed its work successfully

rostopic pub /drive/mode std_msgs/UInt16 "data: 0" -1 # activate controller mode


rostopic pub /drive/mode std_msgs/UInt16 "data: 1" -1 # activate auto mode


rostopic pub /drive/mode/switch std_msgs/Empty "{}" -1 # switch mode


rostopic pub /drive/radius std_msgs/UInt8 "data: X" -1 # set radius (meters)


rostopic pub /drive/station std_msgs/Bool "data: true" -1 # activate algorithm of searching charging station


rostopic pub /drive/station std_msgs/Bool "data: false" -1 # cancel the execution of algorithm of searching charging station


rostopic pub /drive/pause std_msgs/Bool "data: false" -1 # cancel robot's pause


rostopic pub /drive/pause std_msgs/Bool "data: true" -1 # pause the robot


rostopic pub /drive/point std_msgs/UInt16 "data: X" -1 # set robot to the map point X (int) (used in navigation)

rostopic echo /charge/cur
# received data
data: x # charge current (float)
---

rostopic echo /charge/state
# received data
data: True # robot is charging
---
data: False # robot is not charging
---

rostopic echo /charge/type
# received data
data: 0 # not charging
---
data: 1 # charging via cable
---
data: 2 # charging via charging station
---

rostopic pub /charge/runApplication std_msgs/Empty "{}" -1 # launch the application of sending to the charging station

rosparam get /main_controller/firmwares
# received data
['Servo 31: 56', 'Servo 32: 56', 'Servo 33: 56', 'Servo 34: 56', 'Servo 35: 56', 'Servo
    36: 13', 'Servo 21: 56', 'Servo 22: 56', 'Servo 23: 56', 'Servo 24: 56', 'Servo
    25: 56', 'Servo 26: 13', 'Servo 11: 56', 'Servo 12: 56', 'Servo 13: 56', 'Servo
    41: 56', 'Servo 42: 56', 'Power_board: 229', 'Ear_left: 7', 'Ear_right: 7', 'Face_board:
    10001']
'Servo XX: XX' - firmware version of the robot motor control boards
'Power_board: XXX' - firmware version of the robot power board
'Ear_left: X' - the firmware version of the robot's ear board
'Face_board: XXXXX' - robot face firmware version

rostopic echo /promobot_servos/calibration_step
# received data
data: X
---
X - statuses: 
0 - reset the current position to 0
1 - activation of the motor power on the servos
2 - start of movement of all nodes until the Hall sensor is triggered (motion limiter)
3 - return servos to calibration state
4 - reset the current position to 0
5 - deactivate Hall sensors
6 - activation of the motor power on the servos

rostopic echo /wheel/left/sensors/core  # left wheel
rostopic echo /wheel/right/sensors/core  # right wheel
# received data
header:
  seq: 40816  # number of polling iterations since launch
  stamp:  # current time
    secs: 1619435012
    nsecs: 708189702
  frame_id: ''  # topic identifier (none)
state: 
  voltage_input: 28.1
  temperature_pcb: 0.0  # wheel control board temperature
  current_motor: 0.0
  current_input: 0.0  # current on the wheel control board
  speed: 0.0
  duty_cycle: 0.0      # wheel control board parameter
  charge_drawn: 10.0   # wheel control board parameter
  charge_regen: 0.0    # wheel control board parameter
  energy_drawn: 299.0  # wheel control board parameter
  energy_regen: 0.0    # wheel control board parameter
  displacement: 1814.0  # offset relative to the place where the robot was turned on
  distance_traveled: 4745.0
  fault_code: 0  # error code
---

rostopic echo /promobot_servos/core
# received data (example for one of the nodes, all active servos are published in states)
states: 
  - 
    id: X  # servo id
    name: "X_joint"  # joint name
    command: X  # servo control command
    torque: False  # servo motor power status
    setPoint: -41  # given position
    fault_code: 0  # error number
    fault_code_str: "[]"  # error description
    encoderValue: 4293  # current encoder position
    position: -40  # actual position
    velocity: 0
    motorCurrent: 2
    sensors:  # Hall sensor data
      leftSensor: False
      rightSensor: False
  - 

rostopic echo /rangesUS
rostopic echo /rangesTOF
# received data from sensors 1 - 16
---
s_1: 255
s_2: 255
s_3: 255
s_4: 255
s_5: 255
s_6: 255
s_7: 255
s_8: 255
s_9: 255
s_10: 255
s_11: 255
s_12: 255
s_13: 255
s_14: 255
s_15: 255
s_16: 255
s_66: 0 # sensor v3 (not up-to-date)

rostopic pub /animation/file std_msgs/String "data: 'X'" # X - gif-files name. Available gif-files are located in /opt/promobot/share/promobot_face_manager/images

rostopic echo /main_board/voltages
# received data
values: 
  - 
    name: "PC_win"
    value: 15.7399997711
  - 
    name: "PC_linux"
    value: 15.7259998322
  - 
    name: "router"
    value: 28.202999115
  - 
    name: "printer_photo"
    value: 24.1870002747
  - 
    name: "display"
    value: 11.9259996414
  - 
    name: "printer_cheque"
    value: 24.1149997711
  - 
    name: "servos"
    value: 0.0 # voltage value is zero
---

rostopic echo /wheel/left/sensors/core # nothing is published in wheel topics

rostopic echo /printer_thermal/status
# received data
data: X
---
X - statuses: 
0 - Waiting for printing
1 - In the process of printing
2 - Printer error
3 - Printer not connected

rostopic echo /printer_thermal/error
# received data
code: X
description: "X"
---
X - error code + description:
NOT_ERROR = 0,
NO_PAPER = 1,
LOW_PAPER = 2,
PAPER_JAM = 3,
HEAD_OVERHEATED = 4,
POWER_SUPPLY = 5,
CUTTER_ERROR = 6,
RAM_ERROR = 7,
NOT_CONNECTED = 100

rostopic echo /power_board/voltages
# received data
values: 
  - 
    name: "reserve_battery"
    value: 4.04500007629
  - 
    name: "internal"
    value: 4.84899997711
  - 
    name: "USB_HUB"
    value: 5.20100021362
  - 
    name: "ranger_sensor"
    value: 9.10999965668
  - 
    name: "16V"
    value: 18.716999054
  - 
    name: "33V_TPS"
    value: 29.4580001831
  - 
    name: "33V_divider"
    value: 28.5520000458

rostopic echo /power_board/currents
# received data
values: 
  - 
    name: "charge"
    value: 0.0
  - 
    name: "PC"
    value: 1.36699998379
  - 
    name: "mainboard"
    value: 0.234999999404
  - 
    name: "wheels"
    value: 0.0

rostopic pub -1 /power_board/power/hub std_msgs/ Bool "data: false" or "data: true"
rostopic pub -1 /power_board/power/pc Bool "data: false" or "data: true"	
rostopic pub -1 /power_board/power/mainboard Bool "data: false" or "data: true"
rostopic pub -1 /power_board/power/rangers   Bool "data: false" or "data: true"

rostopic echo /main_board/voltages
# received data
values: 
  - 
    name: "PC_win"
    value: 0.00999999977648
  - 
    name: "PC_linux"
    value: 17.5669994354
  - 
    name: "router"
    value: 0.0
  - 
    name: "printer_photo"
    value: 24.1060009003
  - 
    name: "display"
    value: 11.7620000839
  - 
    name: "printer_cheque"
    value: 24.0349998474
  - 
    name: "servos"
    value: 29.1930007935

rostopic echo /main_board/currents
# received data
values: 
  - 
    name: "PC_win"
    value: 0.0
  - 
    name: "PC_linux"
    value: 0.0
  - 
    name: "router"
    value: 0.00079999997979
  - 
    name: "printer_photo"
    value: 0.0
  - 
    name: "display"
    value: 0.439399987459
  - 
    name: "printer_cheque"
    value: 0.0
  - 
    name: "servos_hand_left"
    value: 0.0960000008345
  - 
    name: "servos_head"
    value: 0.0299999993294
  - 
    name: "servos_torso"
    value: 0.0299999993294
  - 
    name: "servos_hand_right"
    value: 0.109999999404