Navi机器人SDK开发指南

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zj_humanoid ​

diagnosis_msgs ​

version:0.1.0

MSG ​

EventItem ​

bash
string event_id
string event_name
string major_code
string minor_code
int32 severity

FieldDescriptor ​

bash
string field
string description
string type

AlarmItem ​

bash
string alarm_name
string major_code
string minor_code
int32 severity
string description
string recovery
bool use_tts
string audio_path
uint32 occurrence_count

SRV ​

AlarmList ​

bash
int32 severity
---
bool success
string message
AlarmItem[] alarms

RuleInfo ​

bash
int32 operation
string source_name
string rule_id
string payload_json
---
bool success
string route_target
string pipeline_name
string message

AlarmAdd ​

bash
string alarm_name
string major_code
string minor_code
int32 severity
string description
string recovery
bool use_tts
string audio_path
---
bool success
string message

ControlOutputs ​

bash
bool voice
bool action
bool light
---
bool success
string message
bool voice
bool action
bool light

AlarmRecover ​

bash
string major_code
string minor_code
int32 severity
---
bool success
string message

ReloadLocalRules ​

bash
string[] file_paths
---
bool success
string message
string[] reloaded_files

EventList ​

bash
---
bool success
string message
EventItem[] events

TextPlay ​

bash
string text
---
bool success
string message

DescribeFields ​

bash
string view
---
bool success
string message
FieldDescriptor[] fields

ReloadDataViews ​

bash
string[] file_paths
string[] views
---
bool success
string message
string[] reloaded_files

legged_messages ​

version:1.0.0

MSG ​

end_effector_info ​

bash
std_msgs/Header header
float32[] endEffectorCurrentForce
float32[] endEffectorCurrentPosition
float32[] endEffectorCurrentVelocity
float32[] endEffectorTargetForce
float32[] endEffectorTargetPosition
float32[] endEffectorTargetVelocity

joint_info ​

bash
std_msgs/Header header
float32[] jointsCurrentPosition
float32[] jointsCurrentVelocity
float32[] jointsCurrentTorque
float32[] jointsTargetPosition # after mpc optimized
float32[] jointsTargetVelocity # after mpc optimized
float32[] jointsTargetTorque # after mpc optimized

wbc_command ​

bash
std_msgs/Header header
float32[] wbc_planned_torque
float32[] wbc_planned_joint_acc
float32[] wbc_planned_body_acc
float32[] wbc_planned_contact_force
float32[] wbc_planned_joint_pos
float32[] wbc_planned_joint_vel

base_info ​

bash
std_msgs/Header header
float32[] baseCurrentPose  # state estimated: euler angle(ZYX), base position
float32[] baseCurrentTwistWrtBody # state estimated: angular velocity, linear velocity
float32[] baseCurrentTwistWrtWorld
float32[] baseTargetPose  # mpc optimized: euler angle(ZYX), base position
float32[] baseTargetTwistWrtBody # mpc optimized: angular velocity, linear velocity
float32[] baseTargetTwistWrtWorld

contact_info ​

bash
std_msgs/Header header
float32[] cmdContactFlag
float32[] estContactFlag
float32[] fusionProbability
float32[] swingPhase
float32[] stancePhase
float32[] endEffectorCurrentPositionZ
float32[] contactForceZ
float32[] pPhase
float32[] pHeight
float32[] pForce

motor_info ​

bash
std_msgs/Header header
float32[] motorsCurrentPosition
float32[] motorsCurrentVelocity
float32[] motorsCurrentTorque
float32[] motorsCurrentTempreture
float32[] motorsCurrent
float32[] motorsTargetPosition # after mpc optimized
float32[] motorsTargetVelocity # after mpc optimized
float32[] motorsTargetTorque # after mpc optimized

audio ​

version:1.2.3

MSG ​

VoicePosition ​

bash
# 声源定位结果，反馈说话人相对于机器人的方位（新增 - 需求007.07）
std_msgs/Header header   # 标准ROS消息头
float32 azimuth_rad    # 水平方位角(度)，范围-pi/2~pi/2
float32 elevation_rad  # 垂直仰角(度)，范围根据机器人neck/waist限位

MediaPlayActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
MediaPlayResult result

MicStatus ​

bash
std_msgs/Header header

bool running
bool publishing
bool device_online

string current_device_name
string current_unique_id
string current_stable_id

int32 sample_rate
int32 channels
float32 publish_rate_hz
uint64 frame_count
time last_frame_time

string last_error

LLMChatActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
LLMChatFeedback feedback

VoiceprintResult ​

bash
# 声纹识别结果，包含用户身份和偏好信息
std_msgs/Header header   # 标准ROS消息头
bool recognized          # 是否识别成功
string user_id           # 用户唯一标识
float32 confidence       # 识别置信度

MediaPlayActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
MediaPlayGoal goal

MediaPlayResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# Result - 媒体播放最终结果
bool success              # 播放是否成功完成
string message            # 状态描述
int32 status              # 状态码

MediaPlayAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

MediaPlayActionGoal action_goal
MediaPlayActionResult action_result
MediaPlayActionFeedback action_feedback

LLMChatResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Response
bool success             # 执行是否成功
string message           # 返回消息
int32 status             # 状态码
string result            # 生成的回复文本

LLMChatFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
string response          # 大模型实时反馈文本

LLMChatGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Request
string raw_input         # 原始输入文本
string context_id        # 会话上下文ID
bool enable_speaker      # 是否输出到喇叭
string llm_profile       # 单轮LLM profile，可为空

StreamTTSCommand ​

bash
# 流式 TTS 控制命令
std_msgs/Header header
string session_id
string op
string text
string tts_profile

MediaPlayGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# 媒体播放Action
# Action名: /zj_humanoid/audio/media_play

# Goal - 媒体播放请求
string file_path          # 音频文件路径
float32 rate              # 播放倍率 (0.5-2.0，步进0.1)

MediaPlayFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

# Feedback - 媒体播放过程反馈
float32 progress          # 播放进度 (0-100)

PlaybackStatus ​

bash
# 播放状态通知
# 仅在状态变化时发布，上游订阅即可感知播放完成/被打断

std_msgs/Header header
uint8 status              # 播放状态
string source             # 播放源: "stream" / "file" / ""

uint8 IDLE=0              # 空闲 (播放自然结束)
uint8 PLAYING=1           # 正在播放
uint8 STOPPED=2           # 被打断 (stop service 调用)

MediaPlayActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
MediaPlayFeedback feedback

AsrResult ​

bash
# 语音识别文本结果流
std_msgs/Header header   # 标准ROS消息头
string text              # 识别文本
bool is_final            # 是否为最后一帧
float32 confidence       # 文本置信度
string language          # 检测到的语言(zh/en/yue/ja/ko)

SpeakerStatus ​

bash
std_msgs/Header header

uint8 IDLE=0
uint8 PLAYING=1
uint8 STOPPED=2
uint8 ERROR=3

uint8 status
string source
bool device_online

string current_device_name
int32 sample_rate
int32 channels
int32 volume

string current_file
float32 progress
uint32 queue_size
float32 queue_duration_sec
uint64 frames_played

string last_error

ASRResult ​

bash
# 结构化 ASR 最终结果
std_msgs/Header header
string session_id
string text
string lid_lang
string language
bool is_final
string source_topic

LLMChatActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
LLMChatGoal goal

LLMChatAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

LLMChatActionGoal action_goal
LLMChatActionResult action_result
LLMChatActionFeedback action_feedback

AudioData ​

bash
# 音频数据流消息
# 用于:
#   - 麦克风原始音频: /zj_humanoid/audio/microphone/audio_data_raw
#   - 前端处理后音频: /zj_humanoid/audio/microphone/processed_data
#   - PCM播放数据流: /zj_humanoid/audio/speaker/pcm_play
#   - 回采参考数据: /zj_humanoid/audio/speaker/ref_data (AEC用)

std_msgs/Header header    # 标准ROS消息头，包含时间戳和frame_id
int32 channels            # 声道数
int32 sample_rate         # 采样率 (Hz)，默认16000，可配置24000
int16[] audio_data        # 原始PCM音频数据 (16位有符号整数，小端格式)
bool is_final             # 是否为最后一帧 (流式播放结束标记)

LLMChatActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
LLMChatResult result

Intent ​

bash
# 解析出的用户意图
std_msgs/Header header   # 标准ROS消息头
int32 intent_type       # 意图类型 (FACE_TO/PICK_PLACE/GESTURE/MOVE/ACTION_GENERATE/SENSOR_OPERATE)
string intent_param      #意图的参数，是个json格式文件，由应用解析

SRV ​

SetVolume ​

bash
# 音量设置服务
# 服务名: /zj_humanoid/audio/speaker/set_volume

# Request
int32 volume              # 音量值 (0-100)

---

# Response
bool success              # 执行是否成功
string message            # 返回消息
int32 status              # 状态码

GetDeviceList ​

bash
# 获取设备列表服务
# 用于麦克风设备列表: /zj_humanoid/audio/microphone/get_devices_list
# 用于扬声器设备列表: /zj_humanoid/audio/speaker/get_devices_list

# Request
# 无请求参数

---

# Response
bool success              # 执行是否成功
string message            # 返回消息
int32 status              # 状态码
string[] devicelist       # 设备列表

SpeakerStop ​

bash
# 停止播放服务 - 清空播放队列并停止当前播放
# 服务名: /zj_humanoid/audio/speaker/stop
# 用途: TTS等上游在发送新一轮音频前调用，实现打断式播放

# Request (空)

---

# Response
bool success              # 执行是否成功
string message            # 返回消息

SetDevice ​

bash
# 设备选择服务
# 用于麦克风设备选择: /zj_humanoid/audio/microphone/select_device
# 用于扬声器设备选择: /zj_humanoid/audio/speaker/select_device

# Request
string name               # 设备名称

---

# Response
bool success              # 执行是否成功
string message            # 返回消息
int32 status              # 状态码 (200=OK, 400=Bad Request, 404=Not Found, 500=Internal Error)

GetVolume ​

bash
# 音量查询服务
# 服务名: /zj_humanoid/audio/speaker/get_volume

# Request
# 无请求参数

---

# Response
bool success              # 执行是否成功
string message            # 返回消息
int32 status              # 状态码
int32 volume              # 当前音量 (0-100)

TTS ​

bash
string[] text # 文本
bool isPlay  # 是否播放
string tts_profile # 单轮TTS profile，可为空
---
bool success
string message # 消息
int32 status # 状态码
string file_path # 文件路径

ACTION ​

LLMChat ​

bash
# Request
string raw_input         # 原始输入文本
string context_id        # 会话上下文ID
bool enable_speaker      # 是否输出到喇叭
string llm_profile       # 单轮LLM profile，可为空
---
# Response
bool success             # 执行是否成功
string message           # 返回消息
int32 status             # 状态码
string result            # 生成的回复文本
---
# Feedback
string response          # 大模型实时反馈文本

MediaPlay ​

bash
# 媒体播放Action
# Action名: /zj_humanoid/audio/media_play

# Goal - 媒体播放请求
string file_path          # 音频文件路径
float32 rate              # 播放倍率 (0.5-2.0，步进0.1)

---

# Result - 媒体播放最终结果
bool success              # 播放是否成功完成
string message            # 状态描述
int32 status              # 状态码

---

# Feedback - 媒体播放过程反馈
float32 progress          # 播放进度 (0-100)

sensor ​

version:1.0.0

SRV ​

CameraInfo ​

bash
# Request
---
# Response
bool success   # 是否成功
string message # 返回消息
string camera_name  # 相机名称/ID, ["CAM_A", "CAM_B", "CAM_C", "CAM_D"]
uint32 height  # 图像分辨率
uint32 width   # 图像分辨率
string distortion_model  # 失真模型, e.g., "plumb_bob", "radtan"
float64[] D  # 失真系数 D (k1, k2, p1, p2, k3, ...)
# [fx, 0,  cx]
# [0,  fy, cy]
# [0,  0,  1 ]
float64[9] K  # 内参矩阵 K (3x3), 以行主序展开为9个元素的数组
geometry_msgs/Transform T_cam_body  # 外参: 相机在机器人本体坐标系下的位姿 (T_cam_body: Transform from body frame to camera frame)

manipulation ​

version:1.0.0

MSG ​

SearchObjectResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Result
bool success  # 是否成功
string message  # 反馈信息

PickResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Result
bool success  # 是否成功
string hand  # 哪只手抓取，right/left
string message  # 反馈信息

TrackActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
TrackGoal goal

InstSegActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
InstSegResult result

LoosenHandAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

LoosenHandActionGoal action_goal
LoosenHandActionResult action_result
LoosenHandActionFeedback action_feedback

TrackResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Result
bool success  # 是否成功
string message  # 反馈信息

TrackAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

TrackActionGoal action_goal
TrackActionResult action_result
TrackActionFeedback action_feedback

PlaceResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Result
bool success  # 是否成功
string message  # 反馈信息

SearchObjectActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
SearchObjectResult result

InstSegActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
InstSegFeedback feedback

InstSegResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Result
bool success  # 是否成功
string message  # 反馈信息

InstSegGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Goal
string[] labels   # 要实例分割的物品名称

SearchObjectGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Goal
string[] labels  # 要搜索的物品名称

SearchObjectActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
SearchObjectFeedback feedback

TrackActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
TrackResult result

LoosenHandActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
LoosenHandFeedback feedback

TrackGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Goal
string label   # 要跟踪的物品名称

PickActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PickResult result

LoosenHandActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
LoosenHandResult result

SearchObjectActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
SearchObjectGoal goal

Grasp6d ​

bash
# ros message for one 6d grasp planning result

string label    # 物品名称
float32 score   # 评分
float32 width   # 抓取宽度
float32 depth   # 抓取深度
float32[] rotation_matrix  # 预测抓取在相机坐标系下的旋转矩阵，按行排列 [T_00, T_01, T_02, T_10, T_11, ...]，长度=9x1
float32[] translation  # 预测抓取在相机坐标系下的平移，按行排列 [T_x, T_y, T_z]，长度=3x1

PickAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

PickActionGoal action_goal
PickActionResult action_result
PickActionFeedback action_feedback

LoosenHandGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Goal
string task_goal   # 任意传

TrackFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
string message  # 反馈信息

PlaceActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PlaceFeedback feedback

LoosenHandFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
bool loosen_hand_flag  # True表示机器人末端附近 xx cm 内有 人的手，false则表示没有

PickActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
PickGoal goal

SearchObjectFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
string message  # 反馈信息

PickFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
string message  # 反馈信息

PlaceFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
string message  # 反馈信息

PlaceAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

PlaceActionGoal action_goal
PlaceActionResult action_result
PlaceActionFeedback action_feedback

InstSegActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
InstSegGoal goal

PickGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Goal
manipulation/ObjPose obj_pose  # 物体位姿

PlaceActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
PlaceGoal goal

LoosenHandResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Result
bool success  # 是否成功
string message  # 反馈信息

InstSegFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Feedback
int32 status  # 状态
sensor_msgs/Image color_image    # 彩色图像
sensor_msgs/Image depth_image   # 深度图像
manipulation/DetItem[] items    # 检测到的物品

SearchObjectAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

SearchObjectActionGoal action_goal
SearchObjectActionResult action_result
SearchObjectActionFeedback action_feedback

ObjPose ​

bash
# ros message for object pose

string label  # 物品名称
geometry_msgs/Pose pose  # 物体位姿

PlaceActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PlaceResult result

PickActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PickFeedback feedback

DetItem ​

bash
# ros message for one detect result

string label   # 搜索到的物品名称
float32 confidence   # 检测置信度
int16[4] bbox   # 检测边界框, [x1, y1, x2, y2]
sensor_msgs/Image mask   # 掩码图像

PlaceGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Goal
manipulation/ObjPose obj_pose  # 物体位姿

LoosenHandActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
LoosenHandGoal goal

TrackActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
TrackFeedback feedback

InstSegAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

InstSegActionGoal action_goal
InstSegActionResult action_result
InstSegActionFeedback action_feedback

SRV ​

SceneUpdate ​

bash
# Request
string[] obstacle_names  # 加载的模型名称
---
# Response
bool success  # 是否成功
string message  # 反馈信息

JointSpaceTrajPlan ​

bash
# Request
string which_arm                  # 手臂选择, "left" or "right"
sensor_msgs/JointState[] joint_states # 一系列的关节状态目标点（航点）
---
# Response
bool success                      # 是否成功
string message                    # 反馈信息
trajectory_msgs/JointTrajectory ros_trajectory # 规划生成的关节空间轨迹

ExecutePickTask ​

bash
# Request
string target_label  # 要抓取的目标物体的标签，例如 "chip_can_ori"
---
# Response
bool success  # 是否成功
string message  # 反馈信息

GetScenePose ​

bash
# Request
int16 scene_id  # 场景ID
---
# Response
bool[] success  # 是否成功
string message  # 反馈信息
string which_scene  # 场景名称
geometry_msgs/Pose[] scene_poses  # 场景位姿

PoseEst ​

bash
# Request
sensor_msgs/Image color_image   # 场景彩色图像
sensor_msgs/Image depth_image   # 场景深度图像
manipulation/DetItem[] items    # 分割消息，每个项目包括标签、置信度、边界框和掩码
---
# Response
bool success  # 是否成功
string message  # 反馈信息
manipulation/ObjPose[] obj_poses   # 估计的物体位姿列表，包括物体标签和估计的位姿

GraspTeach ​

bash
# Request
string which_arm  # 手臂选择，可选值：["left", "right"]
string object_label  # 物体名称
---
# Response
bool success  # 是否成功
string message  # 反馈信息

PoseSpaceTrajPlan ​

bash
# Request
string which_arm               # 手臂选择, "left" or "right"
geometry_msgs/Pose[] waypoints # 目标路点（笛卡尔空间）
---
# Response
bool success                      # 是否成功
string message                    # 反馈信息
trajectory_msgs/JointTrajectory ros_trajectory # 规划生成的关节空间轨迹

CameraCalibration ​

bash
# Request
string camera_name  # 相机名称，可选值：["sacrum_to_hand", "left_in_hand", "right_in_hand"]
string purpose  # 目的，可选值：["extrinsic", "intrinsic"]
string mode  # 模式，可选值：["from_folder", "run_trajectory"]
---
# Response
bool success  # 是否成功
string message  # 反馈信息

InstSeg ​

bash
# Request
string[] labels   # 物品名称列表
sensor_msgs/Image color_image    # 场景彩色图像
sensor_msgs/Image depth_image    # 场景深度图像
---
# Response
bool success  # 是否成功
string message  # 反馈信息
bool have_objs    # 是否检测到物体的标志
manipulation/DetItem[] items    # 分割消息，每个项目包括标签、置信度、边界框和掩码

ACTION ​

Track ​

bash
# Goal
string label   # 要跟踪的物品名称
---
# Result
bool success  # 是否成功
string message  # 反馈信息
---
# Feedback
string message  # 反馈信息

Pick ​

bash
# Goal
manipulation/ObjPose obj_pose  # 物体位姿
---
# Result
bool success  # 是否成功
string hand  # 哪只手抓取，right/left
string message  # 反馈信息
---
# Feedback
string message  # 反馈信息

SearchObject ​

bash
# Goal
string[] labels  # 要搜索的物品名称
---
# Result
bool success  # 是否成功
string message  # 反馈信息
---
# Feedback
string message  # 反馈信息

Place ​

bash
# Goal
manipulation/ObjPose obj_pose  # 物体位姿
---
# Result
bool success  # 是否成功
string message  # 反馈信息
---
# Feedback
string message  # 反馈信息

LoosenHand ​

bash
# Goal
string task_goal   # 任意传
---
# Result
bool success  # 是否成功
string message  # 反馈信息
---
# Feedback
bool loosen_hand_flag  # True表示机器人末端附近 xx cm 内有 人的手，false则表示没有

InstSeg ​

bash
# Goal
string[] labels   # 要实例分割的物品名称
---
# Result
bool success  # 是否成功
string message  # 反馈信息
---
# Feedback
int32 status  # 状态
sensor_msgs/Image color_image    # 彩色图像
sensor_msgs/Image depth_image   # 深度图像
manipulation/DetItem[] items    # 检测到的物品

map_server_msgs ​

version:1.3.0

MSG ​

MapInfo ​

bash
string map_name
nav_msgs/MapMetaData map_metadata

SRV ​

GetMapList ​

bash

---
int32 code
string message
string[] map_name_list

SetMap ​

bash
string map_name
---
int32 code
string message

GetCurMapInfo ​

bash
---
int32 code
string message
MapInfo map_info

livox_ros_driver2 ​

version:1.3.0

MSG ​

CustomMsg ​

bash
# Livox publish pointcloud msg format.

std_msgs/Header header    # ROS standard message header
uint64 timebase           # The time of first point
uint32 point_num          # Total number of pointclouds
uint8  lidar_id           # Lidar device id number
uint8[3]  rsvd            # Reserved use
CustomPoint[] points      # Pointcloud data

CustomPoint ​

bash
# Livox costom pointcloud format.

uint32 offset_time      # offset time relative to the base time
float32 x               # X axis, unit:m
float32 y               # Y axis, unit:m
float32 z               # Z axis, unit:m
uint8 reflectivity      # reflectivity, 0~255
uint8 tag               # livox tag
uint8 line              # laser number in lidar

version:1.5.0

MSG ​

Phase ​

bash
# Phase.msg

State state
Control control

Gear ​

bash
# Gear.msg

uint8 N = 0
uint8 D = 1
uint8 R = 2
uint8 T = 3
uint8 O = 4
uint8 value

PlannerState ​

bash
# PlannerState.msg

uint8 Idle       = 0
uint8 Planning   = 1
uint8 Replanning = 2
uint8 Succeeded  = 3
uint8 Failed     = 4
uint8 value

Control ​

bash
# Control.msg

float64 ax
float64 ay
float64 alpha

Version ​

bash
# Version.msg

string version
string branch
string commit
string build_time

Segment ​

bash
# Segment.msg

Gear gear                 # 挡位
StateStamped[] samples    # 采样点
float64 length            # 移动弧长(m)
float64 rotation          # 转向角度(rad)
bool is_terminal          # 是否为末端段

State ​

bash
# State.msg

float64 x
float64 y
float64 phi
float64 u
float64 v
float64 r

Trajectory ​

bash
# Trajectory.msg

uint64 stamp          # 时间戳(ms)
uint64 solve_time     # 计算耗时(ms)
Segment[] segments    # 轨迹段

StateStamped ​

bash
# StateStamped.msg

State state
float64 t

PhaseStamped ​

bash
# PhaseStamped.msg

Phase phase
float64 t

MpcTrajectory ​

bash
# MpcTrajectory.msg

uint64 stamp                      # 时间戳(ms)
uint64 solve_time                 # 求解耗时(ms)
StateStamped[] ref_trajectory     # 参考轨迹
PhaseStamped[] pred_trajectory    # 预测轨迹

ControllerState ​

bash
# ControllerState.msg

uint8 Idle       = 0
uint8 Tracking   = 1
uint8 Braking    = 2
uint8 CftBraking = 3
uint8 EmgBraking = 4
uint8 Stopped    = 5
uint8 value

BrakeType ​

bash
# BrakeType.msg

uint8 None     = 0
uint8 Brake    = 1
uint8 EmgBrake = 2
uint8 CftBrake = 3
uint8 value

ControlStamped ​

bash
# ControlStamped.msg

Control control
float64 t

version:1.3.0

MSG ​

LocalMapData ​

bash
# LocalMapData.msg

bool occupancy      # 是否占用
int8 semantic       # 语义
bool dynamic        # 是否是动态
float64 speed       # 移动速度 m/s
float64 direction   # 移动方向 [-pi, pi]

ErrorInfo ​

bash
# ErrorInfo.msg

int32 code    # 故障码
string msg    # 故障描述

LocalMap ​

bash
# LocalMap.msg

std_msgs/Header header
nav_msgs/MapMetaData info
LocalMapData[] data

ModuleStatus ​

bash
# ModuleStatus.msg

std_msgs/Header header
uint8 IDLE      = 0   # 空闲
uint8 RUNNING   = 1   # 任务中
uint8 PAUSED    = 2   # 暂停
uint8 COMPLETED = 3   # 任务结束
uint8 ERROR     = 4   # 故障

uint8 status          # 模块状态
ErrorInfo[] faults    # 故障信息
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

std_msgs/Header header
NavigationState state         # 算法状态
ErrorInfo[] faults            # 故障信息
bash
# NavigationState.msg

uint8 Idle      = 0
uint8 Active    = 1
uint8 Running   = 2
uint8 Arrived   = 3
uint8 Canceling = 4
uint8 Cancelled = 5
uint8 Succeeded = 6
uint8 Failed    = 7
uint8 Error     = 8
uint8 Aborted   = 9
uint8 value
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

std_msgs/Header header
duration duration             # 用时 (min)
float64 distance_deviation    # 到达距离偏差 (m)
float64 heading_deviation     # 到达航向偏差 (red)
NavigationState state         # 完成状态 (Succeeded/Failed/Cancelled/Aborted)
ErrorInfo[] causes            # 未成功原因
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

NavigationActionGoal action_goal
NavigationActionResult action_result
NavigationActionFeedback action_feedback

Waypoint ​

bash
# Waypoint.msg

geometry_msgs/Pose pose       # 位姿
float64 distance_tolerance    # 最大到达距离偏差(m)
float64 heading_tolerance     # 最大到达偏航偏差(rad)
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
NavigationResult result

Translation ​

bash
#Translation.msg

bool enable       # 是否启用
float64 heading   # 平移航向
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
NavigationFeedback feedback

TaskType ​

bash
# TaskType.msg

uint8 Routine = 0
uint8 Charge  = 1
uint8 Parking = 2
uint8 Carry   = 3
uint8 Pushing = 4
uint8 Towing  = 5
uint8 value
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
NavigationGoal goal
bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Navigation.action

std_msgs/Header header
TaskType task_type            # 任务类型
Waypoint[] waypoints          # 路径点 (最后一个为目标点, 其余为途经点; size >= 1)
Translation translation       # 平移要求

ACTION ​

bash
# Navigation.action

std_msgs/Header header
TaskType task_type            # 任务类型
Waypoint[] waypoints          # 路径点 (最后一个为目标点, 其余为途经点; size >= 1)
Translation translation       # 平移要求

---

std_msgs/Header header
duration duration             # 用时 (min)
float64 distance_deviation    # 到达距离偏差 (m)
float64 heading_deviation     # 到达航向偏差 (red)
NavigationState state         # 完成状态 (Succeeded/Failed/Cancelled/Aborted)
ErrorInfo[] causes            # 未成功原因

---

std_msgs/Header header
NavigationState state         # 算法状态
ErrorInfo[] faults            # 故障信息

upperlimb ​

version:2.0.0

MSG ​

MotionExecuteActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
MotionExecuteGoal goal

DragTeachReplayActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
DragTeachReplayResult result

DragTeachReplayFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
string name
int32 progress          # 执行进度百分比

MotionExecuteActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
MotionExecuteFeedback feedback

PayLoad ​

bash
float64 mass              # 负载质量  unit:kg
geometry_msgs/Point cog   # 负载质心位置（x,y,z）（末端坐标系为参考） unit:m

MotionExecuteAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

MotionExecuteActionGoal action_goal
MotionExecuteActionResult action_result
MotionExecuteActionFeedback action_feedback

DragTeachRecordActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
DragTeachRecordFeedback feedback

DragTeachRecordActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
DragTeachRecordResult result

MotionInfo ​

bash
string filename         # 动作文件名称
string alias            # 别名
int8 arm_type           # 关节类型
float64[] joints        # 第一个点数据
int64 number            # 点位数量

Pose ​

bash
Header header                          # 当前时间戳
geometry_msgs/Point position           # [x, y, z]     单位:m
geometry_msgs/Quaternion quaternion    # 四元素
float64[3] rpy_rad                     # [r, p, y]     弧度
float64[3] rpy_deg                     # [r, p, y]     角度



# RPY  定轴X-Y-Z旋转  绕动轴Z-Y-X旋转

DragTeachRecordResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
bool success            # 执行结果
string message          # 执行结果信息
string name             # 最后生成的文件名称
float64 total_time      # 轨迹的当前总时长
int32 state_code        # 状态码


byte SUCCESS                          = 0           # 当前无法记录(机器人状态不允许执行动作)
byte ROBOT_CONTROL_STATE_EXCEPTION    = 1           # 轨迹记录过程中退出了示教模式或因为当前不在示教模式而无法进入轨迹记录状态
byte FILE_NAME_EXISTED                = 2           # 给定的文件名已存在
byte FILE_SAVE_FAILED                 = 3           # 文件保存失败
byte USER_OPERATION_EXCEPTION         = 4           # 用户操作异常(取消/新数据等)

MotionExecuteFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
string name
int32 progress          # 执行进度百分比 [0-100]




# 当不给定v&acc | t参数时,默认不运行到动作文件的第一个点,

ArmTypeEnum ​

bash
byte LEFT_ARM  = 1          # 左臂ID
byte RIGHT_ARM = 2          # 右臂ID
byte NECK      = 4          # 颈部ID
byte WAIST     = 8          # 腰部ID
byte LIFT      = 16         # 升降ID


#* armtype可以进行叠加使用，如：
#* LEFT_ARM + RIGHT_ARM + WAIST
#* LEFT_ARM | RIGHT_ARM | WAIST

#* 当进行叠加使用的时候,对应的数据长度也响应调整
#* 不同ArmType对应的数据长度见下表
#* 当指定机型ArmType的数据长度为0时,说明该ID对该机型不可用

#* 当使用对应ArmType进行控制,即使只控制该ID中的个别关节,那么剩下的数据长度也需要补全长度,如:
#* 当只控制U1型号左臂的第一个关节时,实际传入的数据为7个,剩余的6个关节数据需要根据实际情况进行填充,
#* 不同的时间周期中,第一个关节数据变化,其他的6个关节数据保持不变


#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

SpeedL ​

bash
std_msgs/Header header # (Add on 2.0.0+)
float64[] tcp_speed    # 目标末端速度，末端平动速度[m/s]，末端转动角速度[rad/s]
float64 acc            # 最大加速度     [m/s^2]
int8 arm_type          # 机器人身体部位 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)



# vx1, vy1, vz1, vrx1, vry1, vrz1
# vx2, vy2, vz2, vrx2, vry2, vrz2
# vx1, vy1, vz1, vrx1, vry1, vrz1, vx2, vy2, vz2, vrx2, vry2, vrz2

DragTeachRecordActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
DragTeachRecordGoal goal

Joints ​

bash
std_msgs/Header header  # (Add on 2.0.0+)
float64[] joint         # 关节数据. 不同机型不同type对应的数据长度见下表     单位:[rad]




#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

ArmPartInfo ​

bash
uint8 mask              # 对应ArmTypeEnum中的定义
bool  enabled           # 当前部位是否启用
uint8 joint_num         # 当前部位的关节数量

MotionExecuteResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
bool success            # 执行结果
string message          # 执行结果信息
int32 state_code        # 状态码

# 状态码定义
byte SUCCESS = 0                            # 执行成功
byte MOTION_CANT_EXECUTE = 1                # 当前无法控制(机器人状态不允许执行动作)
byte MOTION_NOT_FOUND = 2                   # 动作未找到(算法层或ROS层未加载该动作)
byte MOTION_ALREADY_RUNNING = 3             # 已在执行其他动作(需要先停止当前动作)
byte MOVE_TO_FIRST_POINT_FAILED = 4         # [准备阶段] 移动到第一个点失败
byte MOTION_START_FAILED = 5                # [启动阶段] 动作启动失败(preloadedTrajMove调用失败)
byte MOVE_TO_FIRST_POINT_PREEMPTED = 6      # [准备阶段] 移动到第一个点时被抢占
byte MOTION_RUNNING_PREEMPTED = 7           # [执行阶段] 动作运行中被抢占
byte MOTION_EXECUTION_EXCEPTION = 8         # [执行阶段] 动作执行失败(执行过程中轨迹状态异常)

DragTeachReplayActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
DragTeachReplayFeedback feedback

DragTeachRecordGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

string name             # 要生成的拖拽文件名称,如果不给定的话 则自己生成

DragTeachReplayActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
DragTeachReplayGoal goal

MotionExecuteActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
MotionExecuteResult result

DualPose ​

bash
std_msgs/Header header                  # (Add on 2.0.0+)
geometry_msgs/Pose left_arm_pose        # 左臂数据      xyz 单位:m
geometry_msgs/Pose right_arm_pose       # 右臂数据      xyz 单位:m

TcpSpeed ​

bash
Header header
float64[6] left_arm          # 左臂TCP速度信息
float64[6] right_arm         # 右臂TCP速度信息






# -----------------------------------------------
# left_arm:  [vx, vy, vz, ωx, ωy, ωz]
# right_arm: [vx, vy, vz, ωx, ωy, ωz]


# 其中 vx, vy, vz 单位为[m/s]
# 其中 ωx, ωy, ωz 单位为[rad/s]

DragTeachReplayResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
bool success            # 执行结果
string message          # 执行结果信息
int32 state_code        # 状态码


byte SUCCESS                          = 0           # 执行成功
byte ROBOT_CONTROL_STATE_EXCEPTION    = 1           # 机器人控制状态异常，无法执行动作
byte FILE_NAME_INVALID                = 2           # 文件名无效
byte FILE_NOT_FOUND                   = 3           # 指定的文件不存在
byte FILE_INVALID                     = 4           # 文件无效或损坏
byte FILE_READ_FAILED                 = 5           # 文件读取失败
byte REPLAY_START_FAILED              = 6           # 回放启动失败
byte USER_OPERATION_EXCEPTION         = 7           # 用户操作异常(取消/新数据等)
byte REPLAY_INTERRUPTED               = 8           # 回放被中断
byte MOVE_TO_FIRST_POINT_FAILED       = 9           # 移动到第一个点失败
byte MOVE_TO_FIRST_POINT_PREEMPTED    = 10          # 移动到第一个点被抢占
byte INPUT_PARAM_INVALID              = 11          # 输入参数无效

SpeedJ ​

bash
std_msgs/Header header   # (Add on 2.0.0+)
float64[] joint_speed    # 目标关节速度         [rad/s]
float64 acc              # 最大加速度           [rad/s^2]
int8 arm_type            # 机器人身体部位







#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

UplimbState ​

bash
Header header                      # 当前时间戳
int8 cmd_num                       # 当前运行状态码
string cmd_name                    # 当前运行状态名称
bool left_arm_is_singular          # 当前左臂是否奇异
bool right_arm_is_singular         # 当前右臂是否奇异
bool iddp_status                   # iddp链接状态







byte STOPPED=0
byte MOVEJ=1
byte MOVEJ_PATH=2
byte MOVEL_NULLSPACE=3
byte MOVEL=4
byte MOVEL_PATH=5
byte SPEEDJ=6
byte SPEEDL=7
byte SPEED_STOP=8
byte MOVECSVFILE=9
byte MOVEFOURIER=10
byte MOVEJ_SPLINE=11
byte TEACH=12
byte SERVOJ=13
byte SERVOL=14
byte PROTECTED=15


# -----------------------------------------------------------------
# 0为停止状态，
# 1为MOVEJ，
# 2为MOVEJ_PATH，
# 3为MOVEL_NULLSPACE，
# 4为MOVEL，
# 5为MOVEL_PATH，
# 6为SPEEDJ，
# 7为SPEEDL，
# 8为SPEED_STOP，
# 9为MOVECSVFILE，
# 10为MOVEFOURIER，
# 11为MOVEJ_SPLINE，
# 12为TEACH，
# 13为SERVOJ，
# 14为SERVOL。
# -----------------------------------------------------------------

DragTeachRecordFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
string name
float64 total_time      # 轨迹的当前总时长

DragTeachRecordAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

DragTeachRecordActionGoal action_goal
DragTeachRecordActionResult action_result
DragTeachRecordActionFeedback action_feedback

DragTeachReplayGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

string name             # 要回放的拖拽文件名称
float64 v               # 运行到上述指定动作第一个点的最大速度    [rad/s]
float64 acc             # 运行到上述指定动作第一个点的最大加速度  [rad/s^2]
float64 t               # 从当前位置运行到上述指定动作第一个点的总时长;当给定该参数的时候,忽略v和acc参数.    [s]
float64 start_time      # 起始时间      [s]
float64 end_time        # 结束时间      [s]

MotionExecuteGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======


string name             # 动作名称(如加载时指定别名,则为别名;如加载时未指定别名则为动作文件名称)
float64 v               # 运行到上述指定动作第一个点的最大速度    [rad/s]
float64 acc             # 运行到上述指定动作第一个点的最大加速度  [rad/s^2]
float64 t               # 从当前位置运行到上述指定动作第一个点的总时长;当给定该参数的时候,忽略v和acc参数.    [s]

DragTeachReplayAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

DragTeachReplayActionGoal action_goal
DragTeachReplayActionResult action_result
DragTeachReplayActionFeedback action_feedback

SRV ​

Common ​

bash
string request          #
---
string response

ParamsSet ​

bash
float64[] params                       # 参数
int8 arm_type                          # 机器人身体部位。 可以通过8421码进行叠加。参考 ArmTypeEnum.msg
---
bool success
string message

PayLoadGet ​

bash
int8 arm_type                          # 机器人身体部位。 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg
---
bool success
string message
upperlimb/PayLoad payload              # 负载信息






#* ---------------------
#* | ID | ArmType   |
#* ---------------------
#* | 1  | LEFT_ARM  |
#* | 2  | RIGHT_ARM |
#* | 4  | NECK      |
#* | 8  | WAIST     |
#* | 16 | LIFT      |
#* ----------------------

CartesianPlanningParamsSet ​

bash
int8 arm_type                          # 机器人身体部位。 可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
bool[] joint_mask                      # 指定部位参与笛卡尔空间规划的机器人身体部位关节开关数组. true为参与, false为不参与, 数组长度需要与arm_type对应的关节数量一致 (Add on 1.4.0+)
---
bool success
string message

CartesianPlanningParamsGet ​

bash
int8 arm_type                          # 机器人身体部位。 可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool[] joint_mask                      # 指定部位参与笛卡尔空间规划的机器人身体部位关节开关数组. true为参与, false为不参与, 数组长度需要与arm_type对应的关节数量一致 (Add on 1.4.0+)
bool success
string message

IK ​

bash
geometry_msgs/Pose[2] pose        # tcp的位姿       xyz:[m]     单臂求解使用pose[0], 双臂求解时pose[0]为左臂, pose[1]为右臂
float64 q7                        # 第七关节角       [rad]       (Deprecated on 1.4.0), 该参数传入不影响实际使用
float64[] q_init                  # 起始关节角                   (Add on 1.4.0), 该参数不传入默认使用当前关节位置,建议根据实际情况传入
float64[] q_ref                   # 参考关节角                   (Add on 1.4.0), 该参数不传入默认使用当前关节位置,建议根据实际情况传入
int8 arm_type                     # 参与逆解的机器人身体部位(必须有左臂或右臂或双臂的索引). 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool success                      # 是否有解
string message                    # 提示信息
int32 nums                        # 解的数量
upperlimb/Joints[] joints         # 关节角          [rad]
int8[] arm_type                   # 对应关节角对应的arm_type编码  (Add on 1.4.0)
float64[] phi                     # 臂角,索引与逆解后的关节角对应   (Deprecated on 1.4.0)

MoveJ ​

bash
float64[] joints                       # 关节数据,对应的关节数据维度,详情参考下方  [rad]
float64 v                              # 最大速度    [rad/s]
float64 acc                            # 最大加速度  [rad/s^2]
float64 t                              # 从当前位置到目标位置的总时长;当给定该参数的时候,忽略v和acc参数.    [s]
bool is_async                          # 执行方式 true:立即返回,并且可以被打断;false:阻塞执行,等待执行完成后返回.
int8 arm_type                          # 机器人身体部位。 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg
---
bool success                            # 执行结果,该结果只反映命令的调用结果,并不能代表动作是否执行到位
string message                          # 提示信息




#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

ArmType ​

bash
int8 arm_type               # 机器人类型,使用8421叠加使用。参考 ArmTypeEnum.msg

byte LEFT_ARM  = 1          # 左臂ID
byte RIGHT_ARM = 2          # 右臂ID
byte NECK      = 4          # 颈部ID
byte WAIST     = 8          # 腰部ID
byte LIFT      = 16         # 升降ID
---
bool success
string message


#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

BasicInfoGet ​

bash
---
bool success
string message
uint8 available_mask                # 当前机型可用的掩码和
uint8 total_joint_num               # 当前机型的总关节数量
upperlimb/ArmPartInfo[] parts       # 当前机型对应的各部位信息

MoveLByPath ​

bash
geometry_msgs/Pose[] left_arm_path              # 位姿数组,当控制单臂时始终使用索引为0的数据,当控制双臂时索引0为左臂,索引1为右臂
geometry_msgs/Pose[] right_arm_path             # 位姿数组,当控制单臂时始终使用索引为0的数据,当控制双臂时索引0为左臂,索引1为右臂
float64 time                                    # 运行总时间 [s]    当指定总时间时 忽略时间戳参数
float64[] timestamp                             # 每一个关节角路径对应的时间戳 [s]
bool is_async                                   # 是否同步运行
int8 arm_type                                   # 参与笛卡尔空间规划的机器人身体部位(必须有左臂或右臂或双臂的索引). 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool success
string message

MotionsManage ​

bash
string filename              # 动作文件名称 (只检索后缀为.h5的文件,且符合内置规范的h5文件)
string alias                 # 动作别名,如果为空,默认为动作文件名称
---
bool success
string message
upperlimb/MotionInfo info    # 如果成功加载,则为该动作的详细信息. (详细信息中会返回动作文件的第一个点数据,用户可利用该点数据自行运行到第一个点,然后再决定是否执行动作文件)



# 当进行load时,alias可以为空,为空默认为动作文件名称
# 当进行unload时,filename和alias可以只传一个,也可以都传,但是都传的话,需要确保两者是匹配的,否则会unload failed

MoveJByPose ​

bash
geometry_msgs/Pose[2] pose                # 对应的目标位姿     当调用左臂或右臂服务时,始终使用索引为0的数据;当调用双臂服务时，索引0为左臂,索引1为右臂 。    [m]、[rad]
float64[2] q7                             # 第七关节角度       当调用左臂或右臂服务时,始终使用索引为0的数据;当调用双臂服务时，索引0为左臂,索引1为右臂。     [rad]   (Deprecated on 1.4.0+)
float64 v                                 # 最大速度       [rad/s]
float64 acc                               # 最大加速度      [rad/s^2]
bool is_async                             # 执行方式 true:立即返回,并且可以被打断;false:阻塞执行,等待执行完成后返回.
int8 arm_type                             # 参与笛卡尔空间规划的机器人身体部位(必须有左臂或右臂或双臂的索引). 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool success                              # 执行结果,该结果只反映命令的调用结果,并不能代表动作是否执行到位
string message                            # 提示信息

ParamsGet ​

bash
int8 arm_type                          # 机器人身体部位。 可以通过8421码进行叠加。参考 ArmTypeEnum.msg
---
bool success
string message
float64[] params                       # 参数

IsSingular ​

bash
float64[] joints                     # 手臂关节数据      [rad]
int8 arm_type                        # 参与笛卡尔空间规划的机器人身体部位(必须有左臂或右臂或双臂的索引). 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool success
string message
bool is_singular                     # 请求的手臂关节是否在奇异位置



#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

MoveL ​

bash
geometry_msgs/Pose[2] pose              # 位姿数组,当控制单臂时始终使用索引为0的数据,当控制双臂时索引0为左臂,索引1为右臂    xyz 单位:m
float64 v                               # 最大关节速度  [rad/s]
float64 acc                             # 最大加速度    [rad/s^2]
bool is_async                           # 执行方式 true:立即返回,并且可以被打断;false:阻塞执行,等待执行完成后返回.
int8 arm_type                           # 参与笛卡尔空间规划的机器人身体部位(必须有左臂或右臂或双臂的索引). 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool success                            # 执行结果,该结果只反映命令的调用结果,并不能代表动作是否执行到位
string message                          # 提示信息





#
# 注意
#   - 基坐标系位于URDF中的第一个连杆的坐标系，左臂末端坐标系位于“TCP_L”，右臂末端坐标系位于“TCP_R”。

MotionsLoadedList ​

bash
---
bool success
string message
upperlimb/MotionInfo[] motions        # 返回当前已经加载的所有动作信息

PayLoadSet ​

bash
upperlimb/PayLoad payload              # 负载信息
int8 arm_type                          # 该数据结构只支持左臂或右臂,参考 ArmTypeEnum.msg
---
bool success
string message





#* ---------------------
#* | ID | ArmType   |
#* ---------------------
#* | 1  | LEFT_ARM  |
#* | 2  | RIGHT_ARM |
#* | 4  | NECK      |
#* | 8  | WAIST     |
#* | 16 | LIFT      |
#* ----------------------

JacobianMatrixGet ​

bash
int8 arm_type                               # 需要获取雅可比矩阵的机器人身体部位。参考 ArmTypeEnum.msg，通常为左臂或右臂 (Add on 1.4.0+)
---
bool success
string message
std_msgs/Float64MultiArray[2] jacobian_matrix  # 指定身体部位对应的雅可比矩阵数据,0对应左臂, 1对应右臂 (Add on 1.4.0+)

FK ​

bash
float64[] joints                # 关节角       [rad]
int8 arm_type                   # 参与笛卡尔空间规划的机器人身体部位(必须有左臂或右臂或双臂的索引). 仅当全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg (Add on 1.4.0+)
---
bool success
string message
geometry_msgs/Pose pose         # tcp的位姿     xyz:[m]
int8 arm_type                   # tcp位姿对应的机器人身体部位。参考 ArmTypeEnum.msg (Add on 2.0.0+)
geometry_msgs/Pose[] pose_array # 对应的位姿数组  xyz:[m] 仅当全身控制时在pose_array中返回数据,当指定的armtype为多部位时,该数组对应各个部位的pose (Add on 1.4.0+)
int8[] arm_type_array           # pose_array中每个位姿对应的机器人身体部位。参考 ArmTypeEnum.msg (Add on 2.0.0+)



# 关节角需要补全所有的数据


#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

FilesLists ​

bash
---
bool success
string message
string[] files        # 返回符合要求的文件名称

MoveJByPath ​

bash
upperlimb/Joints[] path               # 关节角路径,
float64 time                          # 运行总时间。  [s]    到达最后一个路径点所需的时间. 当指定总时间时 忽略时间戳参数
float64[] timestamp                   # 时间戳。     [s]    每一个关节角路径对应的时间戳
bool is_async                         # 是否同步运行
int8 arm_type                         # 机器人身体部位。 仅当使用全身控制时有用,用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg
---
bool success                          # 执行结果,该结果只反映命令的调用结果,并不能代表动作是否执行到位
string message                        # 提示信息





#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

Servo ​

bash
float64 v                       # 最大速度, 保留字段，暂未接入控制，内部固定写入0.0。  [rad/s]
float64 acc                     # 最大加速度, 保留字段，暂未接入控制，内部固定写入0.0。 [rad/s^2]
float64 time                    # 执行时间, 间隔点之间的运行时间。自2.0.0起可配置。        [s]
float64 lookahead_time          # 前瞻时间。自2.0.0起可配置。     [s]
int32 gain                      # 位置跟踪参数，该参数越大，跟踪越慢，超调量越小，范围[100, 1000]。自2.0.0起可配置。
int8 arm_type                   # 机器人身体部位。自2.0.0起可配置, 用来指定当前要控制的目标部位,可以通过8421码进行叠加。参考 ArmTypeEnum.msg
---
bool success
string message





#* robot model - arm type joint data length
#* ------------------------------------------------
#* | ID | ArmType   | WA1 | U1 | I2 | WA2 |
#* ------------------------------------------------
#* | 1  | LEFT_ARM  |  7  | 7  | 7  |  8  |
#* | 2  | RIGHT_ARM |  7  | 7  | 7  |  8  |
#* | 4  | NECK      |  2  | 2  | 2  |  2  |
#* | 8  | WAIST     |  2  | 1  | 2  |  4  |
#* | 16 | LIFT      |  1  | 0  | 0  |  0  |
#* ------------------------------------------------

ACTION ​

MotionExecute ​

bash


string name             # 动作名称(如加载时指定别名,则为别名;如加载时未指定别名则为动作文件名称)
float64 v               # 运行到上述指定动作第一个点的最大速度    [rad/s]
float64 acc             # 运行到上述指定动作第一个点的最大加速度  [rad/s^2]
float64 t               # 从当前位置运行到上述指定动作第一个点的总时长;当给定该参数的时候,忽略v和acc参数.    [s]
---
bool success            # 执行结果
string message          # 执行结果信息
int32 state_code        # 状态码

# 状态码定义
byte SUCCESS = 0                            # 执行成功
byte MOTION_CANT_EXECUTE = 1                # 当前无法控制(机器人状态不允许执行动作)
byte MOTION_NOT_FOUND = 2                   # 动作未找到(算法层或ROS层未加载该动作)
byte MOTION_ALREADY_RUNNING = 3             # 已在执行其他动作(需要先停止当前动作)
byte MOVE_TO_FIRST_POINT_FAILED = 4         # [准备阶段] 移动到第一个点失败
byte MOTION_START_FAILED = 5                # [启动阶段] 动作启动失败(preloadedTrajMove调用失败)
byte MOVE_TO_FIRST_POINT_PREEMPTED = 6      # [准备阶段] 移动到第一个点时被抢占
byte MOTION_RUNNING_PREEMPTED = 7           # [执行阶段] 动作运行中被抢占
byte MOTION_EXECUTION_EXCEPTION = 8         # [执行阶段] 动作执行失败(执行过程中轨迹状态异常)
---
string name
int32 progress          # 执行进度百分比 [0-100]




# 当不给定v&acc | t参数时,默认不运行到动作文件的第一个点,

DragTeachReplay ​

bash

string name             # 要回放的拖拽文件名称
float64 v               # 运行到上述指定动作第一个点的最大速度    [rad/s]
float64 acc             # 运行到上述指定动作第一个点的最大加速度  [rad/s^2]
float64 t               # 从当前位置运行到上述指定动作第一个点的总时长;当给定该参数的时候,忽略v和acc参数.    [s]
float64 start_time      # 起始时间      [s]
float64 end_time        # 结束时间      [s]
---
bool success            # 执行结果
string message          # 执行结果信息
int32 state_code        # 状态码


byte SUCCESS                          = 0           # 执行成功
byte ROBOT_CONTROL_STATE_EXCEPTION    = 1           # 机器人控制状态异常，无法执行动作
byte FILE_NAME_INVALID                = 2           # 文件名无效
byte FILE_NOT_FOUND                   = 3           # 指定的文件不存在
byte FILE_INVALID                     = 4           # 文件无效或损坏
byte FILE_READ_FAILED                 = 5           # 文件读取失败
byte REPLAY_START_FAILED              = 6           # 回放启动失败
byte USER_OPERATION_EXCEPTION         = 7           # 用户操作异常(取消/新数据等)
byte REPLAY_INTERRUPTED               = 8           # 回放被中断
byte MOVE_TO_FIRST_POINT_FAILED       = 9           # 移动到第一个点失败
byte MOVE_TO_FIRST_POINT_PREEMPTED    = 10          # 移动到第一个点被抢占
byte INPUT_PARAM_INVALID              = 11          # 输入参数无效

---
string name
int32 progress          # 执行进度百分比

DragTeachRecord ​

bash

string name             # 要生成的拖拽文件名称,如果不给定的话 则自己生成
---
bool success            # 执行结果
string message          # 执行结果信息
string name             # 最后生成的文件名称
float64 total_time      # 轨迹的当前总时长
int32 state_code        # 状态码


byte SUCCESS                          = 0           # 当前无法记录(机器人状态不允许执行动作)
byte ROBOT_CONTROL_STATE_EXCEPTION    = 1           # 轨迹记录过程中退出了示教模式或因为当前不在示教模式而无法进入轨迹记录状态
byte FILE_NAME_EXISTED                = 2           # 给定的文件名已存在
byte FILE_SAVE_FAILED                 = 3           # 文件保存失败
byte USER_OPERATION_EXCEPTION         = 4           # 用户操作异常(取消/新数据等)

---
string name
float64 total_time      # 轨迹的当前总时长

hand ​

version:1.3.0

MSG ​

PressureSensor ​

bash
Header header
string[] name
float64[] pressure          # 指尖压力传感器压力值 顺序依次为:[大拇指,食指,中指,无名指,小拇指,none] 0.1N

Joints ​

bash
# Joint positions for fake sim algo bridge.
# Unit: rad
float64[] q

SRV ​

Gesture ​

bash
string[] gesture_name                   # 手势名称,大小写不敏感(当控制一只手时,索引0生效,当控制两只手时,索引0为左手,索引1为右手)
---
bool success                            # 执行结果,该结果只反映命令的调用结果,并不能代表动作是否执行到位
string message                          # 提示信息







# -----------------------------------------------------------------
# gesture_name

# RESET
# ROCK
# ONE
# TWO
# THREE
# FOUR
# FIVE
# YEAH
# POINTING_UP
# THUMPS_UP
# ILOVEYOU
# BIU
# FUCK

# Tips
# 可能会存在当前手的状态如果直接控制手势运动的话,会出现无法运动到指定手势的情况
# 该数据只用来进行单次控制运动,无法通过设置手势数组状态进行连续的控制

# -----------------------------------------------------------------

HandJoint ​

bash
float32[] q    # 关节数组;     [拇指弯曲,拇指摆动,食指弯曲,中指弯曲,无名指弯曲,小指弯曲] 单位:弧度 当使用双手
---
bool success   # indicate successful run of triggered service
string message # informational













# -----------------------------------------------------------------
# 手掌关节角度限位,如果发送超过关节角度限位的数据会被限制到限位内,并进行提示
# -----------------------------------------------------------------

chassis_msgs ​

version:1.3.0

MSG ​

DIDOState ​

bash
uint8 io_state
uint8 shutdown_state

Trigger ​

bash
# Trigger.msg：急停触发核心数据（被 TriggerStamped 嵌套）

bool trigger          # 车体急停触发状态（true=触发急停，false=正常）
string trigger_type   # 急停触发类型（如 "manual"=手动急停、"fault"=故障急停、"remote"=远程急停）

AGVState ​

bash
#AGV 状态信息
int32 state
string description
float64 battery_voltage
float64 battery_current
float64 battery_percentage
float64 x
float64 y
float64 theta
float64 vx
float64 vy
float64 omega
string[] steer_wheel_ids
float64[] steer_speeds
float64[] steer_angles  # 单位：弧度

TriggerStamped ​

bash
# TriggerStamped.msg：带时间戳和坐标系的急停触发消息
# 用于 ROS 话题发布，包含标准头部和核心急停数据

# 标准消息头部（必选：包含序号、时间戳、坐标系）
std_msgs/Header header

# 核心急停数据（嵌套 Trigger 消息）
chassis_msgs/Trigger trigger

OdomInfo ​

bash
# OdomFeedback.msg
AgvPosition agv_position  # AGV位置信息
AgvVelocity velocity      # AGV速度信息

SteerCommand ​

bash
#舵轮控制命令
float64 front_speed
float64 front_angle  # 单位：度
float64 rear_speed
float64 rear_angle   # 单位：度

MotorState ​

bash
# MotorStatus.msg
string motor_id          # 电机ID（front_trans/rotate等）
int32 speed              # 电机转速（RPM）
int32 position           # 电机位置（编码器计数）
float64 current          # 电机电流（A）
string state             # 状态：OK/ERROR
string[] error_codes     # 错误代码列表（空表示无错误）
bool connected           # 是否连接

MotorInfo ​

bash
std_msgs/Header header
MotorState[] motor_info

PowerStatus ​

bash
# PowerStatus.msg：仅保留协议文档中可直接映射的字段

uint8 connect_status        # 手充连接状态：0=未连接，1=已连接

ConfigKV ​

bash
string key
string value

PowerStatusStamped ​

bash
# PowerStatusStamped.msg：带时间戳和坐标系的电源状态消息
# 用于ROS话题发布，包含标准头部和核心电源状态数据

# 标准消息头部（必选，包含 seq 序号、stamp 时间戳、frame_id 坐标系）
std_msgs/Header header

# 核心电源状态数据（嵌套 PowerStatus 消息）
chassis_msgs/PowerStatus status

AGVNewState ​

bash
#AGV 状态信息
int32 state
string description
bool emergency
bool collision
float64 battery_voltage
float64 battery_current
float64 battery_percentage

SteerInfo ​

bash
std_msgs/Header header
SteerState[] steer_info

SteerState ​

bash
# WheelStatus.msg
string wheel_id        # 车轮ID（如"front"/"rear_left"）
float64 steering_angle   # 转向角（rad）
float64 travel_speed     # 行驶速度（m/s）

ChassisConfig ​

bash
bool has_max_joystick_velocity
float32 max_joystick_velocity
bool has_steer_angular_velocity
float32 steer_angular_velocity
bool has_use_jz_localization
bool use_jz_localization
bool has_charge_upper_limit
float32 charge_upper_limit
bool has_charge_lower_limit
float32 charge_lower_limit
bool has_charge_voltage
float32 charge_voltage
bool has_charge_current
float32 charge_current

SRV ​

SOCkeepControl ​

bash
int32 enable
float64 upper_limit
float64 lower_limit
float64 voltage
float64 current
---
bool success
string message

ChargeControl ​

bash
#充电控制
bool enable  # true=开启充电, false=关闭充电
---
bool success
string message

SetChassisConfig ​

bash
chassis_msgs/ConfigKV[] items
---
bool success
string message

GetChassisConfig ​

bash
string key
---
bool success
string message
chassis_msgs/ConfigKV[] items

version:1.5.0

MSG ​

FinishMappingActionFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
FinishMappingFeedback feedback

FinishMappingGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# 结束方式
# 0: 正常结束并保存地图
# 1: 中止建图，不保存地图
#
# 注意:
# 该 action 的 cancel/preempt 只能取消客户端等待和反馈流程，
# 不能中断已经开始执行的 Finalize/PostProcess。
# 一旦算法进入收尾阶段，将继续执行直到自然结束。
int32 method

FinishMappingAction ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

FinishMappingActionGoal action_goal
FinishMappingActionResult action_result
FinishMappingActionFeedback action_feedback

MappingResult ​

bash
string map_name  # 地图名称
bool success    # 结果
string message  # 返回消息

FinishMappingResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
string map_name
bool success
string message

FinishMappingActionGoal ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
FinishMappingGoal goal

FinishMappingFeedback ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
std_msgs/Header header

# 当前阶段状态
# 0: 未开始
# 1: 已接收目标
# 2: 停止采集/停止建图输入
# 3: Finalize SlamSystem
# 4: 检查是否满足后处理条件
# 5: 正在执行后处理
# 6: 执行完成
# 7: 执行失败
int32 state

# 补充说明信息
# 例如：
# - "finish mapping action accepted"
# - "cancel requested, backend finalize cannot be interrupted"
# - "post processing is running"
# - "Finish mapping"
# - 具体失败原因
string message

FinishMappingActionResult ​

bash
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
FinishMappingResult result

Feedback ​

bash
std_msgs/Header header
int32 state
int64 code
string message

MappingFeedback ​

bash
std_msgs/Header header
int32 state
int64 code
string message

SRV ​

Post_processing ​

bash
int32 method
---
bool success
string message

MappingStart ​

bash
string map_name
float32 z_floor
float32 z_ceil
float32 resolution
int32 scene
---
bool success
string message

Mapping ​

bash
string map_name
float32 z_floor
float32 z_ceil
float32 resolution
int32 scene
---
bool success
string message

Lio ​

bash
string method
string map_path
float32 x_pos
float32 y_pos
float32 z_pos
float32 x_ori
float32 y_ori
float32 z_ori
float32 w_ori

---
bool success
string message

MappingEnd ​

bash
int32 method
---
bool success
string message

Location ​

bash
string method
string map_path
float32 x_pos
float32 y_pos
float32 z_pos
float32 x_ori
float32 y_ori
float32 z_ori
float32 w_ori

---
bool success
string message

ACTION ​

FinishMapping ​

bash
# 结束方式
# 0: 正常结束并保存地图
# 1: 中止建图，不保存地图
#
# 注意:
# 该 action 的 cancel/preempt 只能取消客户端等待和反馈流程，
# 不能中断已经开始执行的 Finalize/PostProcess。
# 一旦算法进入收尾阶段，将继续执行直到自然结束。
int32 method
---
string map_name
bool success
string message
---
std_msgs/Header header

# 当前阶段状态
# 0: 未开始
# 1: 已接收目标
# 2: 停止采集/停止建图输入
# 3: Finalize SlamSystem
# 4: 检查是否满足后处理条件
# 5: 正在执行后处理
# 6: 执行完成
# 7: 执行失败
int32 state

# 补充说明信息
# 例如：
# - "finish mapping action accepted"
# - "cancel requested, backend finalize cannot be interrupted"
# - "post processing is running"
# - "Finish mapping"
# - 具体失败原因
string message

zj_robot ​

version:1.4.1

MSG ​

WorkStatus ​

bash
int32 remain_work_time  # 剩余工作时长，单位分钟
int32 work_time         # 运行时间，单位分钟
float32 walk_distance   # 行进里程

Errors ​

bash
bool over_temp
bool over_cpu
bool over_mem
bool over_disk

ModulesMonitor ​

bash
# 上肢模块状态
bool upper_limb_ok
# 灵巧手模块状态
bool dexterous_hand_ok
# 下肢模块状态
bool lower_limb_ok
# 四目相机（CAM_A - CAM_D）状态
bool cam_a_ok
bool cam_b_ok
bool cam_c_ok
bool cam_d_ok
# 深度相机（realsense_up、realsense_down）状态
bool realsense_up_ok
bool realsense_down_ok
# 定位模块状态
bool localization_module_ok
# 导航模块状态
bool navigation_module_ok
# 语音模块状态
bool voice_module_ok

RobotState ​

bash
uint8 state         # State enums ; state: 5
string state_info   # 打印目前获取的状态 ；state_info: "STATE_ROBOT_RUN"

# State enums
uint8 STATE_ROBOT_NULL = 0
uint8 STATE_ROBOT_CONFIG = 1
uint8 STATE_ROBOT_ON = 2
uint8 STATE_ROBOT_START = 3
uint8 STATE_ROBOT_INIT = 4
uint8 STATE_ROBOT_RUN = 5
uint8 STATE_ROBOT_HALT = 6
uint8 STATE_ROBOT_STOP = 7
uint8 STATE_ROBOT_OFF = 8
uint8 STATE_ROBOT_ERR = 9

Resource ​

bash
float32 cpu_usage
float32 temperature
float32 memory_usage
float32 disk_usage

SRV ​

WifiList ​

bash
# 请求部分（无参数）
---
# 响应部分
bool success             # 操作是否成功
string message           # 状态描述（成功/错误信息）
int32 wifi_count         # WiFi热点数量
string[] wifi_names      # WiFi信息数组，格式："BSSID|SSID"（例如："14:D8:64:73:95:0C|teleoperation_1"）

FaceScreen ​

bash
# text_display.srv
string text           # 要展示的内容，可以为空
bool force_stop       # 是否强制终止当前显示
---
bool success          # 是否成功
string message        # 返回提示或异常信息
int32 status_code     #状态码（0 = 成功，1 = 无活跃显示，2 = 显示冲突，3 = 初始化失败）

SetLED ​

bash
# Low-level WA2 LED command. Values are forwarded to the robot SDK.
uint8 right_mode
uint8 right_freq
uint8 right_red
uint8 right_green
uint8 right_blue
uint8 left_mode
uint8 left_freq
uint8 left_red
uint8 left_green
uint8 left_blue
uint8 front_mode
uint8 front_freq
---
bool success
int32 error_code
string message

SetZero ​

bash
int32 mode              # 0=进入标零模式, 1=执行标零, 2=退出标零模式, 3=查询关节映射
string joint_ids        # 逗号分隔的关节ID或名称，如 "3,5,10" 或 "leftElbow,rightElbow"
---
bool success
string message
string[] failed_joints  # 失败的关节列表
string[] success_joints # 成功的关节列表

ConnectWifi ​

bash
string wifi_name
string wifi_password
---
bool success
string message

FaceShow ​

bash
# 请求部分：指定要播放的媒体信息
string media_path    # 媒体文件路径，可以是图片或视频
bool loop            # 是否循环播放，true为循环，false为播放一次
float32 duration       # 播放时长(秒)，0表示直到结束
---
# 响应部分：返回播放操作的结果
bool success         # 操作是否成功
string message       # 状态信息，如成功或错误原因
int32 status_code    # 状态码，0表示成功，非0表示错误类型

BasicInfo ​

bash
---
bool success             # 是否成功
string message           # 返回消息（如成功或失败的原因）
string robot_version     # 机器人版本
string hardware_version  # 硬件版本
string software_version  # 软件版本
string ip_addr           # IP地址

module_common_msgs ​

version:1.3.0

MSG ​

ErrorInfo ​

bash
int32 code          # 算法错误码
string message      # 错误码详细信息

ModuleStatus ​

bash
int32 IDLE =         0 # 算法未启动 / 无任务分配
int32 INITIALIZING = 1 # 算法启动阶段
int32 RUNNING =      2 # 算法正常迭代
int32 PAUSED =       3 # 算法临时暂停
int32 COMPLETED =    4 # 单次任务结束
int32 DEGRADED =     5 # 算法非最优运行
int32 ERROR =        6 # 算法核心故障
int32 RECOVERING =   7 # 异常后尝试恢复
int32 SYNCING =      8 # 算法等待上下游数据


int32 status        # 算法运行状态
ErrorInfo[] error_info