Robot Status and Sensor Data:

Camera and Microphone Read-Only Capability Matrix

Note

H.264 encoding specifications apply exclusively to the four Topics listed in the matrix below, the current hardware assembly, and version V1.1.1-dl / V1.2.9 / HW 1.2. Direct extrapolation to other cameras, encoding schemes, or software builds is strictly PROHIBITED.

Capability Matrix

Capability & Risk Level	Corresponding Interfaces & Topics	Operational Boundaries & Constraints
Left / Right Head Wide-Angle (Officially Released)	• /left_head_wide_cam/color/image_raw/h264 • /right_head_wide_cam/color/image_raw/h264	• Applies strictly to the current delivery release matrix; • On-site preview feeds contain personal privacy data; publishing previews in public manuals or release packages is strictly PROHIBITED.
Left / Right Arm Wide-Angle (Officially Released)	• /left_arm_wide_cam/color/image_raw/h264 • /right_arm_wide_cam/color/image_raw/h264	Presence of identical interface names across other hardware configurations or software builds is not guaranteed.
Chest / Rear Wide-Angle (Reference Information)	• /chest_wide_cam/image_raw/compressed • /back_wide_cam/image_raw/compressed	Verification MUST follow standard compressed image pipelines; misinterpreting "unconfigured H.264 encoding" as hardware failure is strictly PROHIBITED.
Chest / Chassis Depth Camera (Functionally Restricted)	Under namespace: color/image_raw, depth/image_raw, camera_info, metadata, extrinsics	Image message decoding and payload data processing are not available in this release.
Microphone Online State (Reference Information)	/wheeltec_mic/heartbeat (Message Type: std_msgs/msg/Header)	Proves node service availability only; does NOT imply proper audio pickup, speech recognition, or speaker playback functionality.

Probe Commands

H.264 read-only probes MUST match the BEST_EFFORT QoS policy standard for high-rate sensors and extract header fields only to prevent stdout garbling caused by printing raw binary payloads:

timeout 10s ros2 topic echo \
  /left_head_wide_cam/color/image_raw/h264 \
  --once --field header --qos-reliability best_effort
timeout 10s ros2 topic echo --once /wheeltec_mic/heartbeat

Diagnostic State Cross-Validation Principles

• Symptom Description: Diagnostic array readings for camera_color_fps and camera_depth_fps may report 0 (while camera_info_fps tracks at ~25–30 Hz), even while four-channel H.264 streams encode continuously and normally.
• Validation Requirement: Diagnostic arrays do NOT fully cover all active encoding streams. You MUST cross-check target image Topic timestamps/frequencies, actual decoding outcomes, and encoder logs.
• Mapping Prohibition: Arbitrarily mapping array indices to specific physical camera units before obtaining an official mapping spec is strictly PROHIBITED.