API Reference:

ROS 2

Prerequisites

This article serves as the official API reference index for document version 1.0 and does NOT constitute a commitment for arbitrary hardware or software combinations. Prior to execution, run ros2 topic list, ros2 topic type <topic>, ros2 topic info -v <topic>, and ros2 topic hz <topic> directly on the robot host; values marked as "On-site Query" in the table MUST NOT be hardcoded in customer software applications. Except for /tf_static, this manual does not infer QoS settings unannounced by the drivers.

Delivery Package

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.

Topic Index

Interface	Direction (Client Perspective)	Type	Frequency / QoS	Unit / Key Semantics	Risk	Applicable Version	Status
/odom	Subscribe	nav_msgs/msg/Odometry	~50 Hz; QoS subject to on‑site query	m, m/s, rad/s, orientation quaternion	Read‑only	V1.1.1‑dl / V1.2.9 / HW 1.2	Official Release
/chassis/encoder_message	Subscribe	rm_robot_interfaces/msg/Encoderstate	Subject to on‑site query	Left/right wheel raw counts 0–5600, pay attention to direction	Read‑only	Baseline	Official Release
/teleop_cmd_vel	Publish	geometry_msgs/msg/Twist	Requires continuous publication; current publisher/subscriber use RELIABLE, VOLATILE; queue depth subject to on‑site query	linear.x in m/s, angular.z in rad/s	Controllable risk	V1.1.1‑dl / V1.2.9 / HW 1.2 current configuration	Reference Information
/cmd_vel	Publish	geometry_msgs/msg/Twist	Continuous type; historically recommended ≥10 Hz; QoS subject to on‑site query	linear.x in m/s, angular.z in rad/s	Controllable risk	Baseline	Reference Information
/EnableMotor / /StopMotor / /DisEnableMotor	Publish	std_msgs/msg/Empty	Event‑driven; QoS subject to on‑site query	None	High risk	Baseline	Reference Information
/scan	Subscribe	sensor_msgs/msg/LaserScan	~15 Hz; publisher uses RELIABLE/VOLATILE	m, rad	Read‑only	V1.1.1‑dl / V1.2.9 / HW 1.2 current configuration	Official Release
/bluesea_node/heartbeat	Subscribe	std_msgs/msg/Header	~6 frames per 5 seconds; subject to on‑site observation	ROS timestamp	Read‑only	V1.1.1‑dl / V1.2.9 / current site	Current Limitation
/body_imu/imu/data_raw / /chassis_imu/imu/data_raw	Subscribe	sensor_msgs/msg/Imu	Subject to on‑site query	m/s², rad/s, quaternion	Read‑only	Baseline	Official Release
/robot_slave/states	Subscribe	std_msgs/msg/String	Low‑frequency status; QoS subject to on‑site query	JSON; joint position in 0.001°	Read‑only	Baseline	Official Release
/mcap/body	Subscribe	rm_robot_interfaces/msg/BodyData	~200 Hz; QoS subject to on‑site query	JointState in rad / rad/s	Read‑only	Baseline	Official Release
/mcap/slave_arm_left / /mcap/slave_arm_right	Subscribe	rm_robot_interfaces/msg/ArmSlaveData	~200 Hz; QoS subject to on‑site query	rad, rad/s, m, N/N·m (fields according to message definition)	Read‑only	Baseline	Official Release
/robot_driver/battery_state	Subscribe	rm_robot_interfaces/msg/RobotPower	Subject to on‑site query	0.01 V, 0.01 A; see Voltage, Current and Percentage for details	Read‑only	Baseline	Official Release
/robot_driver/camera_hz_state	Subscribe	rm_robot_interfaces/msg/Camerastate	Subject to on‑site query	frames per second; array order must align with on‑site configuration	Read‑only	Baseline	Reference Information
/chassis_wide_cam/image_raw/compressed	Subscribe	sensor_msgs/msg/CompressedImage	Subject to on‑site measurement	Byte stream; encoding see format	Read‑only	Current camera configuration	Official Release
Four head/arm .../image_raw/h264	Subscribe	sensor_msgs/msg/Image	~30 Hz; BEST_EFFORT	H.264 Annex‑B; 1280×992; do not interpret as ordinary RGB Image	Read‑only	V1.1.1‑dl / V1.2.9 / HW 1.2 current configuration	Official Release
/chest_depth_cam/* / /chassis_depth_cam/*	Subscribe	sensor_msgs/msg/Image / CameraInfo	Image stream not provided in current version	Image encoding, step, camera intrinsics	Read‑only	Current camera configuration	Current Limitation
Full topic set of head/left‑arm/right‑arm depth cameras	Subscribe	Driver‑defined	Not guaranteed	Per driver definition	Read‑only	Uncovered combination	Current Limitation – use only topics that are enumerated in real‑time and have data
/tf / /tf_static	Subscribe	tf2_msgs/msg/TFMessage	Dynamic / static; /tf_static uses TRANSIENT_LOCAL	m, quaternion	Read‑only	Baseline	Current Limitation
/fault/aggregated / /diagnostics	Subscribe	rm_interface/msg/AggregatedFault / diagnostic_msgs/msg/DiagnosticArray (current baseline)	Aggregated fault currently ~1 Hz; QoS subject to on‑site query	Health score, fault records, diagnostic level and temperature	Read‑only	Current baseline	Reference Information – do not inject faults; must be combined with logs, network endpoints and joint_err/sys_err
/trace/heartbeat/status	Subscribe	rm_interface/msg/TraceHeartbeat	Interface comment says 1 Hz; actual observed ~30 s once, inconsistency exists	System resources, network, collection tasks, faults and event aggregation	Read‑only	Current platform configuration	Current Limitation – source rm_data_collect first; this topic is for reference only and shall not be used as availability criterion
/rm_func_mcap_recoder/rm_func_record_status	Subscribe	rm_interface/msg/RmFuncRecordStatus	Status includes start / stop / idle; frequency subject to on‑site observation	Platform collection tasks, path, size, duration and errors	Read‑only	Current platform configuration	Candidate Capability
/wheeltec_mic/heartbeat	Subscribe	std_msgs/msg/Header	Presence of new timestamp within 10 seconds is used as online criterion	Node online heartbeat	Read‑only	Current microphone configuration	Reference Information
/wheeltec_mic/voice_play	Publish	std_msgs/msg/Int8	Event‑driven; QoS subject to on‑site query	Predefined voice index	Controllable risk	Baseline	Reference Information

Service Index

StringCmd is defined as request string data / response string data. It provides only string transport and does not guarantee inner JSON fields, execution completion, or device safety.

Interface	Direction (Client Perspective)	Type	Frequency / QoS	Unit / Key Semantics	Risk	Applicable Version	Status
/robot/command	Call	rm_robot_interfaces/srv/StringCmd	Request/response; QoS determined by ROS2 service layer	data carries serialised wrapper JSON; arm/head/waist movej joints in 0.001°	Controllable risk	V1.2.9‑dr / HW 1.2	Limited closed‑loop: head, right arm, small non‑zero waist and right‑side single‑DOF end‑effector
/mcap_recorder_service	Call	rm_robot_interfaces/srv/StringCmd	Request/response	operate integer; metadata four fields	Controllable risk	Baseline	Official Release
/rm_func_mcap_trigger/web_collection_control	Call	rm_interface/srv/WebCollectionControl	Request/response	Web manual collection wrapper interface; converts start/stop/reset to recorder requests; current implementation uses COLLECT_TYPE_MANUAL = 0	Controllable risk	Current platform configuration	Candidate Capability
/rm_func_mcap_recoder/recorder_control	Call	rm_interface/srv/TriggerCollectionControl	Request/response	Recording start/stop and reset interface; remote teleoperation data collection path uses COLLECT_TYPE_REMOTE = 2	Controllable risk	Current platform configuration	Candidate Capability
/rm_func_mcap_uploader/uploader_control	Call	rm_interface/srv/RequestUpload	Request/response	Submit upload task after recording is complete; inherits collect_type from recorder request, remote teleoperation data collection path is 2	High risk	Current platform configuration	Candidate Capability
/camera_state_service	Call	rm_robot_interfaces/srv/StringCmd	Request/response	No stable business schema published	Controllable risk	Vendor‑defined	Reference Information – first query ros2 service type and official protocol
/scan_motor	Call	base/srv/Control	Request/response	Motor parameters not published in documentation version 1.0	High risk	Vendor‑defined	Reference Information
/s3_uploader_service	Call	rm_robot_interfaces/srv/StringCmd	Request/response	Object storage operations	High risk	Vendor‑defined	Reference Information