Description of the interface protocol.
| Topic Name | Type | Message | Description | Example |
|---|---|---|---|---|
| /motion/joint_override_command | Publish | JointOverrideCommand.msg | Override control commands for specific joints; supports smooth trajectory generation with quintic polynomial interpolation. | upper_joint_override_example.py |
| /motion/set_motion_state | Publish | MotionStateRequest.msg | Request to switch the robot motion state (e.g. switch to terrain walking gait). | switch_to_terrain_walking_gait_example.py |
| /motion/motion_state | Subscribe | MotionState.msg | Receive current robot motion state, including current state and available transitions. | switch_to_terrain_walking_gait_example.py |
| /hardware/led_control | Publish | LedControl.msg | Control robot LED light patterns; supports multiple colors and effects. | led_control_example.py |
| /motion/joint_motion_plan/request | Publish | JointMotionPlanRequest.msg | Request a joint motion planning task; supports trajectory planning and reset to default pose. | joint_mutiple_motion_plan_example.py |
| /motion/joint_motion_plan/state | Subscribe | JointMotionPlanState.msg | Receive joint motion planner state and execution progress. | joint_mutiple_motion_plan_example.py |
| /hardware/joint_state | Subscribe | JointState.msg | Receive current state of all joints (position, velocity, torque). | joint_bridge_example.py |
| /hardware/joint_command | Publish | JointCommand.msg | Send joint control commands to control motion of all joints (e.g. via joint bridge). | joint_bridge_example.py, joint_test_example.cc |
| /motion/body_vel_cmd | Publish | BodyVelCmd.msg | Body velocity command (linear velocity and yaw angular velocity). | body_velocity_control_example.py |
| /hardware/gamepad_keys | Subscribe | GamepadKeys.msg | Gamepad input data. | rl_basic_example.cc |
| /hardware/imu_info | Subscribe | ImuInfo.msg | IMU sensor data. | rl_basic_example.cc |