Base (1):

Pub/Sub	ID	Topic	Type	Explanation
Sub	4000	/ctrl/vision/grasp/location	geometry_msgs/PoseStamped	Relative distance to graspable area
Sub	4003	/ctrl/vision/put/location	geometry_msgs/PoseStamped	Relative distance to put area in base_link frame
Sub	5000	/ctrl/voice/nav_location_goal	geometry_msgs/PoseStamped	Location goal in map for robot to arrive
Pub	1000	/feed/base/task_status	std_msgs/Int8	-1: out of time & aborted 1: success 0: else

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Arm (2):

Pub/Sub	ID	Topic	Type	Explanation
Sub	4001	/ctrl/vision/grasp/pose	geometry_msgs/PoseStamped	Target pose in robot base_link frame
Sub	4002	/ctrl/vision/detect/table	geometry_msgs/PoseStamped	Table pose in base_link frame
Sub	4004	/ctrl/vision/put/pose	geometry_msgs/PoseStamped	Put pose in base_link frame
Sub	5001	/ctrl/voice/arm/left	std_msgs/Int8	State value for controlling robot left arm. 1: reset 2: open left gripper 3: move forward 4: move backward 5: move left 6: move right
Pub	2000	/feed/arm/left/move/result	std_msgs/Int8	1: success 0: else
Pub	2001	/feed/arm/left/plan/result	std_msgs/Int8	1: success -1: failed 0: else

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Vision (4)

Pub/Sub	ID	Topic	Type	Explanation
Pub	4000	/ctrl/vision/grasp/location	geometry_msgs/PoseStamped	Relative distance to graspable area
Pub	4001	/ctrl/vision/grasp/pose	geometry_msgs/PoseStamped	Target pose in robot base_link frame
Pub	4002	/ctrl/vision/detect/table	geometry_msgs/PoseStamped	Table pose in base_link frame
Pub	4003	/ctrl/vision/put/location	geometry_msgs/PoseStamped	Relative distance to put area in base_link frame
Pub	4004	/ctrl/vision/put/pose	geometry_msgs/PoseStamped	Put pose in base_link frame
Pub	4005	/ctrl/vision/recognize/hand	std_msgs/Int8	Hand gesture. -1: No hand 0: Number 10 19: Number 19 (Till now only 5 is used)

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Voice (5)

Pub/Sub	ID	Topic	Type	Explanation
Sub	1000	/feed/base/task_status	std_msgs/Int8	-1: out of time & aborted 1: success 0: else
Pub	5000	/ctrl/voice/nav_location_goal	geometry_msgs/PoseStamped	Location goal in map for robot to arrive
Pub	5001	/ctrl/voice/arm/left	std_msgs/Int8	State value for controlling robot left arm. 1: reset 2: open left gripper 3: move forward 4: move backward 5: move left 6: move right

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Param standard naming

1. For params transit between different modules, the name start with /comm. For param only used inside the module, start with the name of that module, like /vision
2. Use /param after /comm or /vision so that we know it is a param name when writing code
3. Use /ctrl and /feed to represent control param and feedback param
4. At last use meaningful statement to represent the function of the param. For bool, use /is_ or /has_ as prefix

Param list for communication

Name	Set	Get	Delete	Type	Explanation
/comm/param/ctrl/is_put	voice arm	vision	vision	int	Whether the robot should put down the object in hand. 0: not put >=1 put
/comm/param/ctrl/is_ready_to_serve	vision	voice	-	bool	Whether the robot capture voice, controlled by hand gesture