/marty/servos # Type: marty_msgs/ServoMsg
/marty/servo_array # Type: marty_msgs/ServoMsgArray
/marty/accel # Type: marty_msgs/Accelerometer
There is a known issue with the simulated accelerometer, so the data coming from /marty/accel is inconsistent with the ROS stack.
Before the changes can be made official and changed by Coppelia, you can change line 37 in the Accelerometer child script within V-REP to: -
accel={force[3]/(9.81*mass),force[1]/(9.81*mass),force[2]/(9.81*mass)}