API Reference

Introduction

This document provides detailed information about the ROS2 interface for the MARC(Meta-Sejong AI Robotics Challenge) 2025. It includes message formats, topic descriptions, and implementation examples to help participants develop their solutions effectively.

ROS2 Topic List

The following is a list of all ROS2 topics provided by the Meta-Sejong platform:

Publish means Meta-Sejong publish message throuth this topic to provide some information to competitor’s application Subscribe means Meta-Sejong subscribe this topic to receive some message from competitor’s application

Topic Name	Message Type	Publish/Subscribe	Description
/metasejong2025/competitor_request	std_msgs/msg/String	Subscribe	Participants send competition-related requests to the Meta-Sejong Platform
/metasejong2025/competitor_notification	std_msgs/msg/String	Publish	Response messages are sent in reply to the participant’s requests
/metasejong2025/competitor_response	std_msgs/msg/String	Publish	The platform delivers notification messages to the participant
/metasejong2025/cameras/field_name/camera_info	sensor_msgs/msg/CameraInfo	Publish	The camera’s installation position and orientation information
/metasejong2025/cameras/field_name/image_raw	sensor_msgs/msg/Image	Publish	Streaming images from the camera
/metasejong2025/map	nav_msgs/msg/OccupancyGrid	Publish	Map data for autonomous navigation provided via the ROS 2 Nav2 Map Server
/metasejong2025/robot/center_camera_depth	sensor_msgs/msg/Image	Publish	Depth video stream captured by the RGB+Depth camera mounted at the front center of the robot
/metasejong2025/robot/center_camera_image	sensor_msgs/msg/Image	Publish	RGB video stream captured by the RGB+Depth camera mounted at the front center of the robot
/metasejong2025/robot/center_camera_info	sensor_msgs/msg/CameraInfo	Publish	Position and orientation information of the RGB+Depth camera mounted at the front center of the robot
/metasejong2025/robot/left_camera_image	sensor_msgs/msg/Image	Publish	RGB video stream captured by the RGB+Depth camera mounted at the front left of the robot
/metasejong2025/robot/left_camera_info	sensor_msgs/msg/CameraInfo	Publish	Position and orientation information of the RGB camera mounted at the front left of the robot
/metasejong2025/robot/right_camera_image	sensor_msgs/msg/Image	Publish	RGB video stream captured by the RGB camera mounted at the front right of the robot
/metasejong2025/robot/right_camera_info	sensor_msgs/msg/CameraInfo	Publish	RGB video stream captured by the RGB+Depth camera mounted at the front right of the robot
/metasejong2025/robot/scan	sensor_msgs/msg/LaserScan	Publish	Sensor data collected from the LiDAR sensor mounted on the robot
/metasejong2025/robot/cmd_vel	geometry_msgs/msg/Twist	Subscribe	Movement command for autonomous navigation of the robot
/metasejong2025/robot/ppcmd	std_msgs/msg/String	Subscribe	Command for controlling the robot arm mounted on the robot
/metasejong2025/robot/odom	nav_msgs/msg/Odometry	Publish	Required for tracking the robot’s movement path during autonomous navigation