Appendix:
Topic, Service, and REST Master Table | Capability | Interface | Direction / Method | Type or Request | Frequency / QoS | Units | Status | Risk |
|---|---|---|---|---|---|---|---|
| Odometry | /odom | Subscribe | Odometry | ~50 Hz, QoS query on-site | m / m·s⁻¹ / rad·s⁻¹ | Officially Released | Read-only |
| Full-Robot State | /robot_slave/states | Subscribe | String JSON | Query on-site | 0.001° | Officially Released | Read-only |
| Power | /robot_driver/battery_state | Subscribe | RobotPower | Query on-site | 0.01 V/A | Officially Released | Read-only |
| LiDAR | /scan | Subscribe | LaserScan | 14.907 Hz over 600 s | m / rad | Officially Released | Read-only |
| IMU | */imu/data_raw | Subscribe | Imu | Query on-site | rad/s, m·s⁻² | Officially Released | Read-only |
| 4-channel Head/Arm Wide-Angle H.264 | .../image_raw/h264 | Subscribe | H.264 Annex-B payload in Image | ~30 Hz; BEST_EFFORT | Encoded Bytes | Officially Released | Read-only |
| Mic Online | /wheeltec_mic/heartbeat | Subscribe | Header | Query on-site | Timestamp | Reference Info | Read-only |
| Platform Health | /fault/aggregated, /trace/heartbeat/status | Subscribe | AggregatedFault / TraceHeartbeat | 1 Hz / currently ~29.94 s | — | Reference Info / Current Limitation | Read-only |
| Platform Recording State | /rm_func_mcap_recoder/rm_func_record_status | Subscribe | RmFuncRecordStatus | Query on-site | Task / Path / Duration | Candidate Capability | Read-only |
| Platform Recording / Upload | /rm_func_mcap_recoder/recorder_control | Service | rm_interface/srv/TriggerCollectionControl | Request / Response | Recording start/stop and reset interface; remote teleoperation collection uses COLLECT_TYPE_REMOTE = 2 | Candidate Capability | High Risk |
| Platform Recording / Upload | /rm_func_mcap_trigger/web_collection_control | Service | rm_interface/srv/WebCollectionControl | Request / Response | Web manual collection wrapper that translates start/stop/reset into recorder requests; current implementation uses COLLECT_TYPE_MANUAL = 0 | Candidate Capability | High Risk |
| Platform Recording / Upload | /rm_func_mcap_uploader/uploader_control | Service | rm_interface/srv/RequestUpload | Request / Response | Submit upload task after recording completes; reuses the recorder request's collect_type; the remote teleoperation collection path is 2 | Candidate Capability | High Risk |
| TF | /tf, /tf_static | Subscribe | TFMessage | Static uses TRANSIENT_LOCAL | m / Quaternion | Current Limitation | Read-only |
| Chassis Control | /teleop_cmd_vel or /cmd_vel; /StopMotor | Publish | Twist / Empty | Choose a single continuous velocity path only; /teleop_cmd_vel currently RELIABLE/VOLATILE | m/s, rad/s | Reference Info | Controlled / High Risk |
| Robot Command | /robot/command | Service | Serialized wrapper JSON in StringCmd.data | Request / Response | Joint 0.001°; end-effector raw pos | Limited closed-loop: head 1°, right arm 0.5°, waist 0.2°, and right-side end-effector 50/1000 | Controlled Risk |
| Direct Controller Connection | .18:8080, .19:8080, .11:8080 | TCP | JSON | Vendor 4th-gen robotic arm / S100 payload; terminated with \r\n | Joint 0.001° | Read-only version / ports verified; motion payload reference | Controlled Risk |
| Recording | /mcap_recorder_service | Service | StringCmd | Request / Response | run ID | Officially Released | Controlled Risk |
| REST Query / Motion | robot/version, joints/getJointLimit, move/moveJ, move/setArmStop | POST JSON | HTTP | — | Version / 0.001° | Itemized in REST and Command Services | Read-only / Controlled |
| End-Effector | hand_follow_pos_wrapper of /robot/command | Service | hand_pos[dof]; configured in real-time per target device | Request / Response | Read pos_low / pos_up | Officially Released | Controlled Risk |
| Audio / Fault / Branch Power | On-site Enumeration | — | Vendor Defined | Query on-site | Protocol Defined | Reference Info / Current Limitation | Controlled / High Risk |