Topic Reference

Goal¶

This page is the topic-level contract for the system. It helps answer:

which topics exist
which package owns them
which frame IDs are expected

Typical Categories¶

driver outputs
localization outputs
reserved global-localization / relocalization interfaces
auto-aim pipeline topics
integration-level topics

Current default LIO modules publish /odom, /cloud_registered, /cloud_registered_body, /map_cloud, and /path. The previous GICP relocalization stack is disabled, so no relocalization topic should be assumed to exist in a fresh workspace.

Note¶

The Chinese page remains the detailed source for the complete tables and field notes.