PDS topics

Topic names shown below are the resolved names when launching with the default namespace (/ifm3d) and node names (pds, pds_vis). If you override the namespace and/or node names in your launch setup, the resolved topic names will change accordingly.

The PDS node publishes the full combined result on ~/pds_full_result (resolved to /ifm3d/pds/pds_full_result with defaults).

Published topics

Name	Data type	Description
/ifm3d/pds/pallet_detection	ifm3d_ros2/msg/PalletDetectionArray	Result of the getPallet PDS function.
/ifm3d/pds/pds_full_result	ifm3d_ros2/msg/PdsFullResult	Combined result of the PDS functions and the raw J SON; only one of the three result submessages is filled with valid data, indicated by the last_command string.
/ifm3d/pds/rack_detection	ifm3d_ros2/msg/RackDetection	Result of the getRack PDS function.
/ifm3d/pds/volume_check	ifm3d_ros2/msg/VolumeCheck	Result of the volCheck PDS function.
/ifm3d/pds_vis/pds_vis_marker	visualization_msgs/msg/MarkerArray	Markers to visualize results in RViz2.
/diagnostics	diagnostic_msgs/msg/DiagnosticArray	Check out the diagnostic documentation for more details.

Note

All the topics are published with QoS ifm3d_ros2::LowLatencyQoS.

Subscribed topics

The PDS Visualization node subscribes to /ifm3d/pds/pds_full_result from the PDS node.