FAQ:

Known Limitations

This document outlines the known limitations and evaluation findings of the current system version across hardware interfaces, sensor telemetry, control protocols, middleware, and system services. Please carefully review these limitation clauses before proceeding with secondary development, system integration, or production deployment.

Sensor & TF Tree Limitations

• Depth Camera Topics:

  The device does NOT guarantee the publication of all depth camera Topics listed in the vendor documentation. Availability of all camera Topics must be determined based on on-site enumeration and real-time streaming verification.

• Broken Global TF Tree:

  A unified joint TF tree has not yet been established across the robotic arms, head, and waist. Certain camera subtrees remain detached from the main body tree.

• Camera Status Telemetry False Positives:

  The Topic /robot_driver/camera_hz_state currently does NOT reflect the active status of working H.264 video streams. Prior to official confirmation of array mapping updates, using this Topic as a basis for single-stream diagnostics or fault assignment is strictly prohibited.

End-Effector & Manipulator Control Limitations

• End-Effector Limitations:

  • End-effector tools must be parsed according to the dof, pos_low, and pos_up values reported in real time by the target device.
  • The right-side single-DOF end-effector supports the full-range sequence 0→250→500→750→1000→0, mode=0 stopping, homing, and a 60-second hold observation; the physical open/close semantics must be confirmed against the actual mounting orientation.

• movej_follow Virtual Pico Sample:

  The left-arm controller version V1.0.0.teleT8.1 (software V1.2.9-dr, hardware 1.2) supports the 2/3/5 Hz frequency tiers, 0–2 mm stroke, 0.25° in-place rotation, and continuous operation for up to 30 minutes. Not yet supported: 10/20 Hz, the right arm, strokes >2 mm, and larger rotation angles; compatibility with hardware J7 0xF000 also remains to be evaluated.

• In-Process Mutex Locks:

  Local process locks do NOT equal robot-level distributed single-control authority. C++ motion control samples are prohibited from performing live execution.

Communication & Third-Party Interface Limitations

• S100 Head/Waist Control:

  Head and waist motions are implemented via the Orin /robot/command route, supporting small-amplitude motion (head ±1° reciprocation, waist J5 ±0.2° reciprocation) and stop responses. The direct S100 connection is NOT considered an official customer execution path. Active probing or exploratory calls to any unknown TCP/UDP protocols and ports within the system are strictly prohibited.

• Dual Chassis Velocity Topics:

  /teleop_cmd_vel and /cmd_vel both use geometry_msgs/msg/Twist, but they differ in purpose and internal processing pipelines. A customer program may activate only ONE non-zero velocity entry at any given time, and must confirm stopping through sustained zero-velocity publishing and /odom velocity feedback.

• Aggregated System Health:

  The current health aggregation node has not been proven to cover all hardware variants or external controller connection failures. System health must be evaluated through cross-verification combining system logs, active endpoints, and business operational states.

Video Streaming & Data Recording Closed-Loop

• Quad-Channel H.264 Video Stream Compatibility:

  The 4-channel head and arm H.264 video streams apply exclusively to the V1.1.1-dl / V1.2.9 / HW 1.2 baseline configuration. Other software or hardware versions are NOT covered.

• Platform-Variant /rm_func_mcap_*:

  The recording, uploading, metadata, auto-cleanup, and log sanitization closed loop has been officially released. Full closed-loop re-verification is mandatory following any subsequent system upgrade or patch modification.

System Services, Performance & Deployment Limitations

• realman.service:

  Graceful stopping is configured via SIGINT + control-group. The graceful stop strategy must be re-confirmed if the original service unit is upgraded or replaced in the future.

• jetson_clocks:

  NOT recommended as a resident production configuration.

• Cross-Machine & Advanced Feature Deployment:

  Cross-machine ROS 2 setups, the new secure HTTP bridge, and OTA workflows have not yet been fully verified in target deployment environments; confirm each item before deployment.