| Topic | Type | Typical Use |
|---|---|---|
| /solver/X0 | std_msgs/Bool | Clear captured data |
| /solver/X1 | std_msgs/Bool | Capture |
| /solver/X2 | std_msgs/Bool | Solve |
| /solver/X3 | std_msgs/Bool | Load... |
| /solver/X4 | std_msgs/Bool | Save... |
| /solver/Y[0-9] | std_msgs/Bool | Response for /solver/X[0-9] |
| /solver/message | std_msgs/String | Message |
| /solver/error | std_msgs/String | Error code and message |
| /solver/tf | geometry_msgs/Transform | Rigid transform solved |
| /robot/tf | geometry_msgs/Transform | Current transform of robot(base=0,tool=0) |
| Parameter | Description |
|---|---|
| /robot/mTc | Calibrated transform(hand eye) |
| /robot/bTc | Calibrated transform(fixed) |