API Reference:

Data & Message Definitions

Custom Message Index

Type	Main Purpose	Key Fields	Units & Constraints
Encoderstate	Chassis Encoders	left_encoder, right_encoder	uint16 raw counts 0–5600; NOT equal to meters
RobotPower	Battery & Channelized Power	total_voltage, current, remain_capacity, remain_percent, *_voltage	Voltage in 0.01 V; current scaled per Voltage, Current & Percentage Conversions; capacity conversion requires on-site protocol specification
Camerastate	Camera Frame Rate Aggregation	camera_color_fps, camera_depth_fps	uint8[] array in fps; array indices MUST NOT be arbitrarily mapped to cameras
BodyData	Waist & Neck High-Frequency Data	header, joint_state, pose, neck_joint_state, neck_pose	JointState.position in rad, pose position in meters, orientation in quaternions
ArmMasterData	Master Arm Teleoperation Data	header, joint_state	rad / rad/s; subject to message definition and physical device schema
ArmSlaveData	Slave Arm, Pose, Force/Tactile Data	joint_state, pose, wrench_stamped, gripper_pos, rps_*	rad, m, N/N·m; gripper_pos 0–1; rps_* scaling factors NOT inferred in V1.1 release
Rmplusbase / Rmplusstate	End-Effector Config / Status	DOFs, upper/lower limits, sys_state, dof_err, tactile array	angle_* in 0.01°, force_* in 0.001 N; operation protocol remains reference information
Webdatacollect	Teleoperation Data Collection Metadata	type, sence_id, task_id, operator_id, device_id	The original field name is sence_id. The sence_id, task_id, operator_id, and device_id fields must not be empty. Each field must be 1–128 characters in length and contain only alphanumeric characters, dots (.), underscores (_), and hyphens (-). Spaces, Chinese characters, path separators, control characters, or Shell special characters are strictly prohibited.
StringCmd	JSON / Text Request & Response	Request data, Response data	String container ONLY; JSON schema validation, payload size, timeout, and business error checks are mandatory

Joint Indexing & Unit Conversions

Arrays are parsed in strict J1...Jn order: 7 DOFs for left/right arms, 5 for waist, 2 for head. Strict array length validation is required; auto-padding with zeros or truncating arrays is strictly prohibited.

Data Source	Raw Unit	Conversion to Degrees	Conversion to Radians
/robot_slave/states position / REST moveJ.joint	0.001°	degree = raw / 1000	rad = raw / 1000 × π / 180
sensor_msgs/msg/JointState.position	rad	degree = rad × 180 / π	Raw value
Rmplusbase.angle_up/angle_low	0.01°	degree = raw / 100	rad = raw / 100 × π / 180

Example: A raw value of 5000 in 0.001° encoding represents 5°, NOT 5000°, and NOT 5 rad. Following conversion, physical driver limits, software limits, and relative displacement delta for the current move MUST be cross-validated simultaneously.

Status & Error Codes

The arm, waist, and head telemetry sections inside /robot_slave/states typically include position, joint_en, joint_err, and sys_err. V1.1 defines evaluation rules only and does not speculate on non-zero bit meanings without an official vendor error lookup table:

• Any non-zero element in joint_err: Automated motion for the target body part is strictly PROHIBITED; retain full error array, timestamp, and target values.
• Non-zero sys_err: Issue immediate stop command, abort current task, and escalate to vendor error code lookup table or technical support for decoding.
• joint_en state mismatch: Do NOT attempt automated enabling; check E-stop status, control mode, ownership tokens, and underlying fault causes first.
• Missing fields, unparsable JSON, NaN/Inf values, or invalid DOF array lengths: Treat as INVALID state data and NEVER use previous state cache to continue motion dispatch.

Voltage, Current & Percentage Conversions

RobotPower.*_voltage fields are encoded in 0.01 V (10 mV) increments based on baseline verification; e.g., 2773 represents 27.73 V.

current is a signed hundredths-of-an-ampere integer (0.01 A / 10 mA) packed inside a uint16 container: if the raw value exceeds 32767, subtract 65536 before multiplying by 0.01 A; e.g., 65018 represents -5.18 A.

This conversion applies strictly to baseline builds; protocol definitions MUST be re-verified prior to deployment on newer software versions.

remain_percent must pass validation within the range 0–100; values exceeding bounds must be flagged as telemetry data anomalies.

Timestamps, TF Trees & Calibration

ROS Header.stamp records device publication time. The platform must also log local host reception time and clock drift; replacing message header timestamps with file copy timestamps is strictly prohibited. Duration calculations MUST use start and end timestamps originating from the same time domain.

Subscribers to /tf_static MUST use TRANSIENT_LOCAL durability QoS policy.

When joint TF trees are missing for arms/head/waist, or camera subtrees are disconnected from base_link, reliance on unified TF lookup MUST cease:

• Robot kinematics must fall back to version-matched URDF models combined with real-time joint angles.
• Camera geometry must fall back to verified extrinsic calibration parameters.
• CameraInfo topics resolve camera intrinsic parameters ONLY and cannot replace camera-to-body extrinsic transforms.

Writing calibration parameters is classified as a high-risk operation requiring pre-write state snapshots, validation dataset checks, and verified rollback procedures.

MCAP Data Format Specifications

MCAP is a container format and does not automatically unify or sanitize internal ROS 2 schemas.

Every delivery recording package MUST retain:

• Unique run ID
• Hardware & software build versions
• Topic names
• Message types
• Schema / serialization formats
• Start and end timestamps
• Total message counts
• File SHA-256 hashes

Average camera frame rates MUST be calculated using count / duration where duration > 0; using single-frame inter-arrival intervals to represent overall stream frame rate is prohibited.

If parsing fails, original MCAP files MUST be retained, and automated remote cleanup must NOT be triggered.