Robot Status and Sensor Data:

IMU, LiDAR, and Camera Status Check

Note

Prior to confirming sensor data, you MUST enumerate active Topics first. Applying Topic names from legacy models or historical software versions for configuration or diagnostics is strictly PROHIBITED.

ros2 topic list | grep -E '^/(body_imu|chassis_imu|scan|.*cam)'

ros2 topic info -v /scan

timeout 10s ros2 topic hz /scan

• LiDAR Network Configuration Troubleshooting Case

  Troubleshooting workflow for resolving missing LiDAR data streams caused by IP address mismatches:

  • Network Mapping Configuration:

    • LiDAR Internal Subnet: 192.168.158.0/24

    • Physical LiDAR Device IP: 192.168.158.98

    • Legacy Driver Invalid Target IP: 192.168.127.13

  • Resolution: Added persistent internal address 192.168.158.15/24 to the S100 main controller and updated the BlueSea driver target IP to the physical LiDAR address, successfully restoring /scan.

• Static TF & Sensor Operating Status

  • LiDAR Static TF: Static transform translation from base_link → laser_link is [0.237, 0, 0] with a unit quaternion.

  • IMU Status: Both IMU units publish valid messages with valid timestamps normally.

  • Wide-Angle Compressed Camera: Single-stream nominal ~25.06 Hz.

• Camera Availability Criteria & Troubleshooting Requirements

  Camera device availability MUST satisfy all three criteria simultaneously:

  1. Corresponding Topic exists;

  2. Sensor actively and continuously streams data at nominal frequencies;

  3. Image data payload decodes successfully.

TIP

• The current delivery release does NOT publish the full vendor-planned camera Topic set.

• If an image Topic is missing, log the current topic list, device configuration files, and system logs only.

• Performing unauthorized actions such as restarting driver services, modifying USB hardware configurations, or altering network config files is strictly PROHIBITED.