rwc-config.json

{
    "rosbridge_websocket_url": "ws://127.0.0.1:9090",
    "actions": {
        "actionServers": {
            "move_base": {
                "actionServerName": "/move_base",
                "actionName": "move_base_msgs/MoveBaseAction"
            },
            "topological_navigation": {
                "actionServerName": "/topological_navigation",
                "actionName": "topological_navigation/GotoNodeAction"
            },
            "speak": {
                "actionServerName": "/speak",
                "actionName": "mary_tts/maryttsAction"
            },
            "move_base_custom_example": {
                "actionServerName": "/move_base",
                "actionName": "move_base_msgs/MoveBaseAction"
            },
            "gaze": {
                "actionServerName": "/gaze_at_pose",
                "actionName": "strands_gazing/GazeAtPoseAction"
            }
        },
        "topics": {
            "volumeChange": {
                "topicName": "/volume/percentChange",
                "topicMessageType": "std_msgs/Int8"
            },
            "volumeSet": {
                "topicName": "/volume/percentSet",
                "topicMessageType": "std_msgs/Int8"
            }
        }
    },
    "listeners": {
        "odom": {
            "topicName": "/odom",
            "topicMessageType": "nav_msgs/Odometry"
        },
        "nearest_person_pose": {
            "topicName": "/people_tracker/pose",
            "topicMessageType": "geometry_msgs/PoseStamped"
        },
        "people_pose_array": {
            "topicName": "/people_tracker/pose_array",
            "topicMessageType": "geometry_msgs/PoseArray"
        },
        "current_node": {
            "topicName": "/current_node",
            "topicMessageType": "std_msgs/String"
        },
        "odom_custom_example": {
            "topicName": "/odom",
            "topicMessageType": "nav_msgs/Odometry"
        },
        "battery_state": {
            "topicName": "/battery_state",
            "topicMessageType": "scitos_msgs/BatteryState"
        },
        "volume": {
            "topicName": "/volume/percent",
            "topicMessageType": "std_msgs/Int8"
        },
        "gaze": {
            "topicName": "/rwc/gaze_pose",
            "topicMessageType": "geometry_msgs/PoseStamped"
        },
        "task_events": {
            "topicName": "/task_executor/events",
            "topicMessageType": "strands_executive_msgs/TaskEvent"
        },
        "camera_snapshot": {
            "uri": "http://localhost:8080/snapshot?topic=/head_xtion/rgb/image_color"
        }
    }
}