Robot Status and Sensor Data:

Confirming Live ROS 2 Graph and QoS

The nominal frequencies recorded in this documentation apply to specific delivery releases. Following any software, hardware, or sensor configuration changes, you MUST re-confirm on the robot terminal using the commands below:

TIP

The examples/ scripts referenced on this page are obtained through the delivery package provided via official delivery channels; use the delivery package version matching your software version. The paths shown in this document are for illustrating script structure only.

ros2 topic list
ros2 topic type /odom
ros2 topic info -v /odom
timeout 10s ros2 topic hz /odom

• Executing ros2 topic info -v provides the definitive on-site source of truth for publisher types, Reliability, Durability, and Depth QoS settings.

• The example read_state.py configures KEEP_LAST(depth=10) + BEST_EFFORT + VOLATILE to ensure compatibility with the vast majority of high-frequency sensor publishers. This does NOT constitute a unified QoS declaration across all Topic publishers.

TIP

If a subscription node fails to receive data continuously after launch, cross-reference the publisher's QoS settings before adjusting the client node. Attempting trial-and-error troubleshooting by blindly restarting services, drivers, or the entire software stack is strictly PROHIBITED.