Robot Status and Sensor Data:
Status and Sensor Index | Capacity Domain | Topic & Type | Frequency | QoS | Units | Validation Status | Anomaly Criteria |
|---|---|---|---|---|---|---|
| Chassis | /odom; nav_msgs/msg/Odometry | Measured baseline ~50 Hz | Refer to topic info -v; examples use BEST_EFFORT/VOLATILE | Position in m; Linear velocity in m/s; Angular velocity in rad/s | Officially Released | No messages for 10 seconds, frozen timestamps, or persistent non-zero velocity while stationary |
| Joint & System Telemetry | /robot_slave/states; std_msgs/msg/String (JSON payload) | Measured baseline ~1.995 Hz | Query on-site; read-only examples use BEST_EFFORT/VOLATILE | position in 0.001°; Gripper position typically 0–1000 | Officially Released | Unparsable JSON, missing target sections, non-zero joint_err/sys_err, or no messages for 10 seconds |
| High-Frequency Head & Waist Status | /mcap/body; rm_robot_interfaces/msg/BodyData | Measured baseline ~194 Hz (Nominal config: 200 Hz) | Query on-site | Joint parameters defined primarily in rad; verify via ros2 interface show prior to use | Officially Released | Frequency significantly lower than baseline, timestamp regression, or modified field array lengths |
| IMU | /body_imu/*, /chassis_imu/*; Core type includes sensor_msgs/msg/Imu | No fixed value established across versions | Query on-site | Acceleration in m/s²; Angular velocity in rad/s; Orientation defined per specific Topic | Officially Released | Target Topic missing, no messages for 10 seconds, or abnormal covariances/timestamps |
| LiDAR | /scan; sensor_msgs/msg/LaserScan | Measured baseline ~14.907 Hz over 10 min | Publisher uses RELIABLE/VOLATILE; Subscribers must match on-site QoS | Distance in m; Angle in rad | Officially Released | Messages must publish continuously for 600 seconds with valid ranges ratio meeting acceptance thresholds; heartbeats cannot substitute for content acceptance |
| Wide-Angle Camera | /chassis_wide_cam/image_raw/compressed; sensor_msgs/msg/CompressedImage | Measured baseline ~25.06 Hz | Publisher currently uses RELIABLE/VOLATILE | Byte stream; refer to format for encoding scheme | Officially Released | No positive frame rate for 10 seconds, decode failure, or frozen timestamps |
| Other Cameras | Chest/chassis depth cameras & complete Topic sets for head/left/right arms | Image streaming closed loop not established in this release | Query on-site | Image pixels; depth units determined by encoding and camera specs | Currently Restricted | Publishing camera_info without image streams, 0 fps frame rate, or encoder/decoder mismatches |
| Power System | /robot_driver/battery_state; rm_robot_interfaces/msg/RobotPower | No fixed value established across versions | Query on-site; examples use BEST_EFFORT/VOLATILE | Baseline voltage/current fields in 0.01 V / 0.01 A; percentage fields in % | Officially Released | No messages for 10 seconds, percentage out of bounds, or static values when overall system state changes |
| System Health | /diagnostics; diagnostic_msgs/msg/DiagnosticArray; /fault/aggregated type subject to live system | No fixed value established across versions | Query on-site | Status codes, text strings, and device error codes | Reference Information | ERROR/STALE states, non-empty aggregated fault lists, or contradictions with /robot_slave/states error bits |
| TF Trees | /tf, /tf_static; tf2_msgs/msg/TFMessage | /tf legacy baseline ~50 Hz; static transforms fetched via latched QoS | /tf_static MUST use TRANSIENT_LOCAL | Translation in m; Rotation in quaternions | Currently Restricted | Lookup timeouts, disconnected trees, or long-term unupdated transform timestamps |
| Calibration Data | Camera camera_info, URDF models, delivery calibration datasets | Non-periodic or published alongside sensor feeds | Depends on data source | Intrinsic/extrinsic units determined by schema/file definitions | Currently Restricted | Missing camera-to-body extrinsics, resolution mismatch with intrinsics, or unidentified calibration versions |