uint8 OI_MODE_OFF=0
uint8 OI_MODE_PASSIVE=1
uint8 OI_MODE_SAFE=2
uint8 OI_MODE_FULL=3
uint8 REMOTE_LEFT=129
uint8 REMOTE_FORWARD=130
uint8 REMOTE_RIGHT=131
uint8 REMOTE_SPOT=132
uint8 REMOTE_MAX=133
uint8 REMOTE_SMALL=134
uint8 REMOTE_MEDIUM=135
uint8 REMOTE_LARGE=136
uint8 REMOTE_CLEAN=136
uint8 REMOTE_PAUSE=137
uint8 REMOTE_POWER=138
uint8 REMOTE_ARC_LEFT=139
uint8 REMOTE_ARC_RIGHT=140
uint8 REMOTE_DRIVE_STOP=141
uint8 REMOTE_SEND_ALL=142
uint8 REMOTE_SEEK_DOCK=143
uint8 REMOTE_RESERVED=240
uint8 REMOTE_FORCE_FIELD=242
uint8 REMOTE_GREEN_BUOY=244
uint8 REMOTE_GREEN_BUOY_AND_FORCE_FIELD=246
uint8 REMOTE_RED_BUOY=248
uint8 REMOTE_RED_BUOY_AND_FORCE_FIELD=250
uint8 REMOTE_RED_BUOY_AND_GREEN_BUOY=252
uint8 REMOTE_RED_BUOY_AND_GREEN_BUOY_AND_FORCE_FIELD=254
uint8 REMOTE_NONE=255
uint8 CHARGING_NOT_CHARGING=0
uint8 CHARGING_CHARGING_RECOVERY=1
uint8 CHARGING_CHARGING=2
uint8 CHARGING_TRICKLE_CHARGING=3
uint8 CHARGING_WAITING=4
uint8 CHARGING_CHARGING_ERROR=5
Header header
uint32 seq
time stamp
string frame_id
uint8 bumps_wheeldrops
bool wall
bool cliff_left
bool cliff_front_left
bool cliff_front_right
bool cliff_right
bool virtual_wall
uint8 motor_overcurrents
uint8 dirt_detector_left
uint8 dirt_detector_right
uint8 remote_opcode
uint8 buttons
int16 distance
int16 angle
uint8 charging_state
uint16 voltage
int16 current
int8 temperature
uint16 charge
uint16 capacity
uint16 wall_signal
uint16 cliff_left_signal
uint16 cliff_front_left_signal
uint16 cliff_front_right_signal
uint16 cliff_right_signal
uint8 user_digital_inputs
uint16 user_analog_input
uint8 charging_sources_available
uint8 oi_mode
uint8 song_number
bool song_playing
uint8 number_of_stream_packets
int16 requested_velocity
int16 requested_radius
int16 requested_right_velocity
int16 requested_left_velocity