| Message | Description | Publisher(s) | Subscriber(s) |
|---|---|---|---|
| Barometer | Pressure and temperature | OrcaBarometerPlugin | DepthNode |
| Depth | ENU depth in meters (+ is above the surface, - is below the surface) | DepthNode | BaseController |
| Effort | Force and torque divided by maximum force and torque (range [-1, 1]) | ||
| Status | Hardware status | OrcaThrusterPlugin | |
| StereoStats | Stereo camera diagnostic infomation | StereoOdometry | |
| Thrust | Thruster pwm values | BaseController | OrcaThrusterPlugin |