ROS 2 Topic & Node Reference

Auto-generated from Python source (create_publisher / create_subscription) plus known ros2_control broadcaster topics. Rebuild with ./docs/build.sh.

For narrative explanations and mode-specific graphs see:

• ROS 2 Communication Graph

• Simulation ROS 2 Graph

• Hardware ROS 2 Graph

Application nodes

Node	Package	Mode	Publishes	Subscribes
fish_agent	planning	sim	/fish_effort_controller/commands	—
force_feedback_controller	control	both	/position_trajectory_controller/joint_trajectory	/fishing_arm/tension, /joint_states
hardware_check	diagnostics	both	?	/joint_states, /fishing_arm/tension
load_cell_node	sensors	both	/fishing_arm/tension	?
position_test_publisher	control	both	/position_trajectory_controller/joint_trajectory	—
recorder	diagnostics	sim	—	/joint_states, /fishing_arm/tension

ros2_control & infrastructure topics

Component	Topic	Message	Direction	Mode
joint_state_broadcaster	/joint_states	sensor_msgs/JointState	pub	both
position_trajectory_controller	/position_trajectory_controller/joint_trajectory	trajectory_msgs/JointTrajectory	sub (cmd) / pub (state)	both
position_trajectory_controller	/position_trajectory_controller/state	control_msgs/JointTrajectoryControllerState	pub	both
fish_effort_controller	/fish_effort_controller/commands	std_msgs/Float64MultiArray	pub	sim
tension_sensor_broadcaster	/tension_sensor_broadcaster/wrench	geometry_msgs/WrenchStamped	pub	sim
robot_state_publisher	/robot_description	std_msgs/String	pub	both
robot_state_publisher	/tf	tf2_msgs/TFMessage	pub	both
robot_state_publisher	/tf_static	tf2_msgs/TFMessage	pub	both

Custom messages

Message	Package	Fields	Used on
interfaces/FishingTension	interfaces	header, tension_newtons, target_tension_newtons	/fishing_arm/tension

See also interfaces — Custom Messages and Package Reference.