| $ ros2 node info /amcl |
| /amcl |
| Subscribers: |
| /clock: rosgraph_msgs/msg/Clock |
| /initialpose: geometry_msgs/msg/PoseWithCovarianceStamped |
| /map: nav_msgs/msg/OccupancyGrid |
| /parameter_events: rcl_interfaces/msg/ParameterEvent |
| Publishers: |
| /amcl/transition_event: lifecycle_msgs/msg/TransitionEvent |
| /amcl_pose: geometry_msgs/msg/PoseWithCovarianceStamped |
| /parameter_events: rcl_interfaces/msg/ParameterEvent |
| /particlecloud: geometry_msgs/msg/PoseArray |
| /rosout: rcl_interfaces/msg/Log |
| Service Servers: |
| /amcl/change_state: lifecycle_msgs/srv/ChangeState |
| /amcl/describe_parameters: rcl_interfaces/srv/DescribeParameters |
| /amcl/get_available_states: lifecycle_msgs/srv/GetAvailableStates |
| /amcl/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions |
| /amcl/get_parameter_types: rcl_interfaces/srv/GetParameterTypes |
| /amcl/get_parameters: rcl_interfaces/srv/GetParameters |
| /amcl/get_state: lifecycle_msgs/srv/GetState |
| /amcl/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions |
| /amcl/list_parameters: rcl_interfaces/srv/ListParameters |
| /amcl/set_parameters: rcl_interfaces/srv/SetParameters |
| /amcl/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically |
| /reinitialize_global_localization: std_srvs/srv/Empty |
| /request_nomotion_update: std_srvs/srv/Empty |
| Service Clients: |
| |
| Action Servers: |
| |
| Action Clients: |
| |
| $ ros2 node info /bt_navigator |
| /bt_navigator |
| Subscribers: |
| /clock: rosgraph_msgs/msg/Clock |
| /goal_pose: geometry_msgs/msg/PoseStamped |
| /parameter_events: rcl_interfaces/msg/ParameterEvent |
| /tf: tf2_msgs/msg/TFMessage |
| /tf_static: tf2_msgs/msg/TFMessage |
| Publishers: |
| /bt_navigator/transition_event: lifecycle_msgs/msg/TransitionEvent |
| /parameter_events: rcl_interfaces/msg/ParameterEvent |
| /rosout: rcl_interfaces/msg/Log |
| Service Servers: |
| /bt_navigator/change_state: lifecycle_msgs/srv/ChangeState |
| /bt_navigator/describe_parameters: rcl_interfaces/srv/DescribeParameters |
| /bt_navigator/get_available_states: lifecycle_msgs/srv/GetAvailableStates |
| /bt_navigator/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions |
| /bt_navigator/get_parameter_types: rcl_interfaces/srv/GetParameterTypes |
| /bt_navigator/get_parameters: rcl_interfaces/srv/GetParameters |
| /bt_navigator/get_state: lifecycle_msgs/srv/GetState |
| /bt_navigator/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions |
| /bt_navigator/list_parameters: rcl_interfaces/srv/ListParameters |
| /bt_navigator/set_parameters: rcl_interfaces/srv/SetParameters |
| /bt_navigator/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically |
| Service Clients: |
| |
| Action Servers: |
| /NavigateToPose: nav2_msgs/action/NavigateToPose |
| Action Clients: |
| |
| $ ros2 node info /controller_server |
| /controller_server |
| Subscribers: |
| /clock: rosgraph_msgs/msg/Clock |
| /odom: nav_msgs/msg/Odometry |
| /parameter_events: rcl_interfaces/msg/ParameterEvent |
| Publishers: |
| /cmd_vel: geometry_msgs/msg/Twist |
| /controller_server/transition_event: lifecycle_msgs/msg/TransitionEvent |
| /cost_cloud: sensor_msgs/msg/PointCloud |
| /evaluation: dwb_msgs/msg/LocalPlanEvaluation |
| /local_plan: nav_msgs/msg/Path |
| /marker: visualization_msgs/msg/MarkerArray |
| /parameter_events: rcl_interfaces/msg/ParameterEvent |
| /received_global_plan: nav_msgs/msg/Path |
| /rosout: rcl_interfaces/msg/Log |
| /transformed_global_plan: nav_msgs/msg/Path |
| Service Servers: |
| /controller_server/change_state: lifecycle_msgs/srv/ChangeState |
| /controller_server/describe_parameters: rcl_interfaces/srv/DescribeParameters |
| /controller_server/get_available_states: lifecycle_msgs/srv/GetAvailableStates |
| /controller_server/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions |
| /controller_server/get_parameter_types: rcl_interfaces/srv/GetParameterTypes |
| /controller_server/get_parameters: rcl_interfaces/srv/GetParameters |
| /controller_server/get_state: lifecycle_msgs/srv/GetState |
| /controller_server/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions |
| /controller_server/list_parameters: rcl_interfaces/srv/ListParameters |
| /controller_server/set_parameters: rcl_interfaces/srv/SetParameters |
| /controller_server/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically |
| Service Clients: |
| |
| Action Servers: |
| |
| Action Clients: |
| |
| |
