camera_center,Point Grey 5 MP Dash camera
camera_front_right,Front right Point Grey 1.3 MP camera
camera_front_left,Front left Point Grey 1.3 MP camera
camera_rear_left,Rear left Point Grey 1.3 MP camera
camera_rear_right,Rear right Point Grey 1.3 MP camera
camera_side_left,Side left Point Grey 1.3 MP camera
camera_side_right,Side right Point Grey 1.3 MP camera
lidar_red_pointcloud,Red HDL-32E Velodyne 3-D Lidar pointcloud
lidar_yellow_pointcloud,Yellow HDL-32E Velodyne 3-D Lidar pointcloud
lidar_blue_pointcloud,Blue HDL-32E Velodyne 3-D Lidar pointcloud
lidar_green_pointcloud,Green HDL-32E Velodyne 3-D Lidar pointcloud
"imu", IMU
"gps", GPS
"gps_time", GPS time reference
"pose_raw", Raw pose_raw
"pose_ground_truth", Ground truth 
"pose_localized", Localized pose
"tf", Transform
"velocity_raw", Raw velocity_raw