Status and Sensors:

Overview

This chapter introduces how to read telemetry and data streams for the chassis, dual arms, head/waist, grippers, IMU, LiDAR, cameras, power management, system health, TF trees, and calibration parameters, while properly interpreting data units, publication frequencies, and QoS matching strategies.

• Applicable Version: Subject to topics actually published by the robot baseline hardware; for camera and end-effector devices, verify via ros2 topic list on the physical machine alongside device configuration files.
• Risk Level: Read-Only.
• Content Scope:
  • Included: Subscription workflows, expected publication frequencies, field unit conversions, sensor availability checks, and known TF tree breakpoint disclosures.
  • Excluded: Issuing any form of motion control commands, writing calibration data, or restarting sensor services and drivers.

The screenshot below serves strictly to identify the status query interface within the teach pendant software. Refer to the subsequent sections of this chapter for specific field definitions, parsing rules, and read-only success criteria.