Functionalities

Ambient Light
Battery State (0: lower than 3.4v, 1: higher than 3.4v)
Command Velocity (kinematic Model)
Imu (acc + gyro)
Wheel Position (joint_states)
Laser (Interpolate from proximity sensors 24 points from 8 proximity sensors)
Led Control (red led:{0-7}, green led:{8}, front led:{9}, state:{0: off, 1: on, 2:inverse})
Microphone State
Odom
Raw Proximity sensors
Sound Play {1:"haa", 2: "spaah", 3: "ouah", 4: "yaouh", 5: "wouaaaaaaaah"}
Temperature State
TF odom to base_link
TF base_link to laser

Tests