RBQ

📘 RBQ Introduction

Welcome to the RBQ ROS 2 SDK Manual.

This guide will help you quickly get started with controlling and visualizing the RBQ robot through ROS 2, both in simulation and on real hardware.

What This SDK Provides

This SDK enables the following key features:

Robot Control: Execute posture commands, gait switching, and position-based navigation.
Sensor Feedback Streaming: Continuously stream IMU, foot contact, battery state, and more.
Vision Data Streaming: Provides visual information from front, rear, and downward-facing cameras for perception and navigation.
RViz2 Visualization: Visualize robot state and sensors like LiDAR in real-time.

💻 System requirements

Component	Require Setting
Operating System
ROS 2 Distro
Python Version

🛠️ Installation

📝 Instructions assume that the CLI terminal commands are all input in the main directory.

Clone the RBQ repository to your workspace:

bash

git clone https://github.com/RainbowRobotics/RBQ.git

System Setup

This "System Setup" process should be executed on the 'developer PC'. This package is tested for Ubuntu 22.04 and ROS 2 Humble.

Install ROS Humble

bash

cd <your workspace>/RBQ
sudo bash scripts/ex/install/ros.bash

Source ROS Humble
bash
```
source /opt/ros/humble/setup.bash
```
Initialize and update ros dependencies.
bash
```
sudo rosdep init && rosdep update
```

Package Installation

Go-to the ros2 directory and install ros dependencies

bash

cd ros2
rosdep install --from-paths src -y --ignore-src

Build rbq_ros2 packages
bash
```
colcon build --symlink-install
```

▶️ Run nodes

Go to your workspace directory first:

bash

cd <your workspace>/RBQ

To Run rbq_driver on 'real robot', execute the following command:

This section explains how to operate the real RBQ robot.

📖 For detailed operation steps, refer to the Operation Guide

1. Connect your PC to the robot's Wi-Fi

📝 Wi-Fi SSID: RBQ_xxxx.

2. Connect to robot pc via SSH

bash

ssh rbq@192.168.0.10

⚠️ Make Sure Auto Start the robot before RUN Simple-RL

3. Run the process on robot pc

To run the process on the robot PC, follow these steps in order.

Connect the network on the robot PC using a C to LAN hub.
Connect to the robot PC via SSH (see step 2 above: ssh rbq@192.168.0.10).
On the connected robot PC, clone the repository and run the same setup as on the developer PC.
- In your working directory (e.g. cd ~), run git clone https://github.com/RainbowRobotics/RBQ.git, then go into the cloned RBQ directory and perform system setup (ROS Humble install, sourcing, rosdep init, etc.) and package installation (cd ros2, then rosdep install, colcon build) as in the 🛠️ Installation section.
If you get permission errors, run the command again after entering sudo.

Note: The commands below must be run on the real robot (the robot PC you connected to via SSH), not on the developer PC.

To use ROS with the real robot from your 'developer PC', run:
bash
```
cd <your workspace>/RBQ
source ros2/install/local_setup.bash
./scripts/start_ros_driver.bash
```
Note: The commands below must be run on the developer PC, not on the real robot (robot PC).

To use ROS in simulation on your 'developer PC', run:

bash

cd <your workspace>/RBQ
source ros2/install/local_setup.bash
./scripts/sim.bash --ros

4. DDS setup on developer PC (when sending topics to robot PC)

On the developer PC, in the terminal where you send DDS traffic to the robot PC, set the following environment variables. Use this terminal for ros2 topic list, ros2 topic pub, etc.

Domain ID is fixed at 0.
Network interface must match your PC. wlp4s0 is an example; replace it with the interface name you get from ifconfig.

bash

export CYCLONEDDS_URI='<CycloneDDS><Domain><Id>0</Id><General><Interfaces><NetworkInterface name="wlp4s0"/></Interfaces></General></Domain></CycloneDDS>'
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Identify the interface to use from the ifconfig output below (e.g. Wi‑Fi wlp4s0, wired eth0), then change the name="wlp4s0" part in CYCLONEDDS_URI to that name.

To check your interfaces:

bash

ifconfig

5. Test list of active topics

Robot PC: If the driver was started in a terminal with the step 3 environment variables set, you can run ros2 topic list in that same terminal.

Developer PC: To send or inspect topics to/from the robot PC, run the following in a terminal where step 4 DDS setup (domain 0, Cyclone DDS) is applied:

bash

source ros2/install/local_setup.bash
ros2 topic list

The RBQ driver includes all topics needed to control the RBQ over ROS 2.

The rbq_driver process starts the following nodes:

Robot state publisher
Sensor feedback publishers (IMU, battery, foot contact)
Command subscriber
Vision data publishers (front, rear, and bottom camera streams)

⚡ Quick Start

This section walks you through the essential commands to get the robot moving via ROS 2 topics.

1. Switch to HighLevel Command Mode

📍 IMPORTANT — Mode Switch Required

To actually move the robot via HighLevelCommand, you must set rbq/motion/switchControlMode to true first.

`true`	HighLevel Mode — the robot accepts commands from `rbq/motion/cmd_highLevel`
`false`	JoyStick Mode — the robot is controlled by the joystick (default)

bash

ros2 topic pub --once /rbq/motion/switchControlMode std_msgs/msg/Bool "{data: true}"

2. Auto Start (initialize joints and start control)

⚠️ Before running autoStart, ensure the robot is in the correct initial posture on a flat surface. For testing, sit the robot first (switchGait gait_id: 0).

bash

ros2 topic pub --once /rbq/motion/autoStart std_msgs/msg/Bool "{data: true}"

3. Gait Transition (Sit → Stand → Walk)

Use rbq/motion/switchGait with the target gait_id to change the robot's gait state.

Sit (gait_id: 0)

bash

ros2 topic pub --once /rbq/motion/switchGait std_msgs/msg/Int8 "{data: 0}"

Stand (gait_id: 1)

bash

ros2 topic pub --once /rbq/motion/switchGait std_msgs/msg/Int8 "{data: 1}"

Walk (gait_id: 3)

bash

ros2 topic pub --once /rbq/motion/switchGait std_msgs/msg/Int8 "{data: 3}"

Available Gait States :

State ID	Name	Description
-2	Fall Mode	Triggered upon unexpected loss of balance
-1	Control Off	All actuators disabled
0	Sitting	Low posture, resting on the ground
1	Standing	Neutral posture, ready to walk
2	Aim Mode	Aiming posture for targeting
3	Walk Mode	walking Trot gait
4	Stairs Mode	Stair-adaptive gait using camera sensor
5	Wave Mode	walking Walk gait
6	Run Mode	High-speed gait (if supported)
30	RL Trot	Reinforcement Learning Trot gait
31	RL Front Walk	Reinforcement Learning Front Walk gait
33	RL Left Walk	Reinforcement Learning Left Walk gait
34	RL Right Walk	Reinforcement Learning Right Walk gait
35	RL Bound	Reinforcement Learning Bound gait
36	RL Pace	Reinforcement Learning Pace gait
37	RL Pronk	Reinforcement Learning Pronk gait
38-41	RL 3Leg	Reinforcement Learning 3-Leg gaits (HR, HL, FR, FL)
42	RL Trot Vision	Reinforcement Learning Trot with Vision
45	RL Trot Run	Reinforcement Learning Trot Run gait
46	RL Silent	Reinforcement Learning Silent gait

4. Send Velocity Commands

Once the robot is in Walk Mode (gait_id: 3), use rbq/motion/cmd_highLevel to send velocity commands.

Move forward at 0.3 m/s

bash

ros2 topic pub --once /rbq/motion/cmd_highLevel rbq_msgs/msg/HighLevelCommand \
'{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "base"},
  identifier: "walk_fwd",
  roll: 0.0,
  pitch: 0.0,
  yaw: 0.0,
  vel_x: 0.3,
  vel_y: 0.0,
  omega_z: 0.0,
  delta_body_h: 0.0,
  delta_foot_h: 0.0,
  gait_state: 3,
  gait_transition: false}'

Move diagonally at 45° (forward + lateral)

bash

ros2 topic pub --once /rbq/motion/cmd_highLevel rbq_msgs/msg/HighLevelCommand \
'{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "base"},
  identifier: "walk_diag",
  roll: 0.0,
  pitch: 0.0,
  yaw: 0.0,
  vel_x: 0.3,
  vel_y: 0.3,
  omega_z: 0.0,
  delta_body_h: 0.0,
  delta_foot_h: 0.0,
  gait_state: 3,
  gait_transition: false}'

💡 For 45° diagonal movement, set the same vel_x and vel_y (0.3 × cos45° ≈ 0.212 m/s).

HighLevelCommand message definition :

bash

std_msgs/Header header         # ROS message header with timestamp and frame_id
string identifier              # Command identifier for tracking/logging purposes
float64 roll                   # Body roll angle in degrees (ZYX Euler angles)
float64 pitch                  # Body pitch angle in degrees (ZYX Euler angles)  
float64 yaw                    # Body yaw angle in degrees (ZYX Euler angles)
float64 vel_x                  # Linear velocity in X direction (m/s)
float64 vel_y                  # Linear velocity in Y direction (m/s)
float64 omega_z                # Angular velocity around Z axis (deg/s)
float64 delta_body_h           # Body height adjustment from default (m)
float64 delta_foot_h           # Foot height adjustment from default (m)
int8	gait_state             # Target gait state (use constants defined above)
bool	gait_transition        # Enable(true)/disable(false) gait transition during command execution

📋 Topics

🦿 1. Gait State Topics

Gait state refers to the robot's current motion or posture mode.

Transitions between these states are triggered by incoming high-level commands, sensor conditions, or internal logic.

Available Gait States :

State ID	Name	Description
-2	Fall Mode	Triggered upon unexpected loss of balance
-1	Control Off	All actuators disabled
0	Sitting	Low posture, resting on the ground
1	Standing	Neutral posture, ready to walk
2	Aim Mode	Aiming posture for targeting
3	Walk Mode	walking Trot gait
4	Stairs Mode	Stair-adaptive gait using camera sensor
5	Wave Mode	walking Walk gait
6	Run Mode	High-speed gait (if supported)
30	RL Trot	Reinforcement Learning Trot gait
31	RL Front Walk	Reinforcement Learning Front Walk gait
33	RL Left Walk	Reinforcement Learning Left Walk gait
34	RL Right Walk	Reinforcement Learning Right Walk gait
35	RL Bound	Reinforcement Learning Bound gait
36	RL Pace	Reinforcement Learning Pace gait
37	RL Pronk	Reinforcement Learning Pronk gait
38-41	RL 3Leg	Reinforcement Learning 3-Leg gaits (HR, HL, FR, FL)
42	RL Trot Vision	Reinforcement Learning Trot with Vision
45	RL Trot Run	Reinforcement Learning Trot Run gait
46	RL Silent	Reinforcement Learning Silent gait

The Available Commands in the second column show which commands can be used in each gait state. In contrast, Common Commands and Power Control are always available regardless of the gait state.
Note: All gait transitions use the unified rbq/motion/switchGait topic with specific gait_id values.
Check Gait State table above for available gait_id values at "Available Gait States"

Gait State	Available Commands	Common Commands	Power Control
Control Off	rbq/motion/autoStart		rbq/powerControl/setPortState # PDU Port ID int8 PDU_PORT_48V_LEG = 0x00 int8 PDU_PORT_48V_ADD = 0x01 int8 PDU_PORT_48V_EXT = 0x02 int8 PDU_PORT_12V_VisionPC = 0x10 int8 PDU_PORT_12V_COMM = 0x11 int8 PDU_PORT_12V_Lidar = 0x12 int8 PDU_PORT_12V_CCTV = 0x13 int8 PDU_PORT_12V_THER = 0x14 int8 PDU_PORT_12V_IRLed = 0x15 int8 PDU_PORT_12V_Speaker = 0x16 int8 PDU_PORT_5V_CAMERAS = 0x20 int8 PDU_PORT_5V_AUDIO_SIDE_CAM_USBHUB = 0x21
Sitting Mode	rbq/motion/canCheck	rbq/motion/switchGait (gait_id: 0-46) rbq/motion/cmd_highLevel rbq/motion/emergency rbq/motion/staticLock rbq/motion/staticReady rbq/motion/staticGround rbq/motion/switchControlMode (true:HighLevel Mode, false:JoyStick Mode)
Standing Mode	rbq/motion/cmd_navigateTo rbq/stateEstimation/comEstimationCompensation
Walk Mode	-
Stairs Mode	-
Run Mode	-
Wave Mode	rbq/motion/cmd_navigateTo
RL Mode	-
Fall Mode	rbq/motion/recoveryFlex rbq/motion/switchGait (gait_id: 1)

📡 2. Low-level State Topics

These topics provide real-time feedback about the robot's internal state, such as posture, sensor readings, and system status.

Topics	Data Structure	Description
rbq/status/robot_status	std_msgs/Header header bool con_start bool ready_pos bool ground_pos bool force_con bool ext_joy bool is_standing bool can_check bool find_home int8 gait_id bool is_fall int8 docking_state bool imu_success	This message contains robot status information and is published at 50Hz. Contains motor control status, position states, communication status, gait information, and docking state. Check Gait State table above for available gait_id values at "Available Gait States" # Docking States int8 DOCKING_MAX_FAIL_CNT_REACHED = -6 int8 DOCKING_MARKER_POS_INVALID_ROTATION = -5 int8 DOCKING_MARKER_POS_INVALID_TOO_FAR = -4 int8 DOCKING_MARKER_POS_INVALID_WRONG_DIR = -3 int8 DOCKING_MARKER_NOT_FOUND = -2 int8 DOCKING_FAILED = -1 int8 DOCKING_OPERATION_MODE = 0 int8 DOCKING_APPROACH_OFFSET = 1 int8 DOCKING_APPROACH = 2 int8 DOCKING_APPROACH_WIDE = 3 int8 DOCKING_SIT_DOWN = 4 int8 DOCKING_SUCCESS = 5 int8 DOCKING_SUCCESS_CHARGING = 6 int8 DOCKING_SUCCESS_NO_CHARGING = 7
rbq/powerControl/battery_status	std_msgs/Header header string identifier float64 charge_percentage float64 current float64 voltage float64[] temperatures uint8 status	# Status uint8 STATUS_UNKNOWN = 0 uint8 STATUS_MISSING = 1 uint8 STATUS_CHARGING = 2 uint8 STATUS_DISCHARGING = 3 uint8 STATUS_BOOTING = 4
rbq/stateEstimation/footStates	std_msgs/Header header geometry_msgs/Point[] foot_position_rt_body geometry_msgs/Point[] foot_velocity_rt_body uint8[] contact	Foot position/velocity with respect to the local body frame. The origin of the body frame is at the center of the robot body, with the front direction as +x, the left direction as +y, and the upward direction as +z. All arrays contain 4 elements (one for each leg). # Contact uint8 CONTACT_UNKNOWN = 0 uint8 CONTACT_MADE = 1 uint8 CONTACT_LOST = 2 # Leg number Leg num 0 : Right-Hind leg (RH) Leg num 1 : Left-Hind Leg (LH) Leg num 2 : Right-Front Leg (RF) Leg num 3 : Left-Front Leg (LF)
rbq/joint/joint_status	std_msgs/Header header bool[] connected int8[] temperature int8[] motor_temp bool[] status_fet bool[] status_run bool[] status_init bool[] status_mod bool[] status_non_ctr bool[] status_bat bool[] status_calib bool[] status_mt_err bool[] status_jam bool[] status_cur bool[] status_big bool[] status_inp bool[] status_flt bool[] status_tmp bool[] status_ps1 bool[] status_ps2 bool[] status_rsvd float32[] position_ref float32[] position_enc float32[] velocity float32[] torque_ref float32[] current float32[] kp float32[] kd int32[] owner	This message contains detailed joint information including connection status, temperature, motor status flags, and control data. Published at 50Hz for each joint.

💡 Examples : Subscribe to each state topic

Robot Status

bash

ros2 topic echo --once rbq/status/robot_status

Joint Status

bash

ros2 topic echo --once rbq/joint/joint_status

Battery Status

bash

ros2 topic echo --once rbq/powerControl/battery_status

Foot States

bash

ros2 topic echo --once rbq/stateEstimation/footStates

The msg about state is defined as :

RobotStatus

bash

# DOCKING_STATE
int8 DOCKING_MAX_FAIL_CNT_REACHED = -6           # (ABORT SEQENCE) MAX Docking retry count rechead (10 times)
int8 DOCKING_MARKER_POS_INVALID_ROTATION  = -5   # (ABORT SEQENCE) Marker rotation angle is more than +-40 degree
int8 DOCKING_MARKER_POS_INVALID_TOO_FAR   = -4   # (ABORT SEQENCE) Marker is too far more than 5m
int8 DOCKING_MARKER_POS_INVALID_WRONG_DIR = -3   # (ABORT SEQENCE) Marker is detected on front side of robot
int8 DOCKING_MARKER_NOT_FOUND = -2               # (ABORT SEQENCE) Marker not found
int8 DOCKING_FAILED           = -1               # docking failed --> Auto retry
int8 DOCKING_OPERATION_MODE   = 0                # robot is on normal operation
int8 DOCKING_APPROACH_OFFSET  = 1                # 1st reach to charger by offset
int8 DOCKING_APPROACH         = 2                # 2nd reach to charger
int8 DOCKING_APPROACH_WIDE    = 3                # 3rd reach to charger with wide stance
int8 DOCKING_SIT_DOWN         = 4                # sitting down to charger
int8 DOCKING_SUCCESS          = 5                # docking success : charger connected
int8 DOCKING_SUCCESS_CHARGING = 6                # docking success : charging
int8 DOCKING_SUCCESS_NO_CHARGING = 7             # docking success : no_charging

# gait_state constants
int8 STATE_FALL                = -2    # Fall Mode - Triggered upon unexpected loss of balance
int8 STATE_OFF                 = -1    # Control Off - All actuators disabled
int8 STATE_SIT                 = 0     # Sitting - Low posture, resting on the ground
int8 STATE_STAND               = 1     # Standing - Neutral posture, ready to walk
int8 STATE_AIM                 = 2     # Aim Mode - Aiming posture for targeting
int8 STATE_WALK                = 3     # Walk Mode - walking Trot gait
int8 STATE_STAIRS              = 4     # Stairs Mode - Stair-adaptive gait using camera sensor
int8 STATE_WAVE                = 5     # Wave Mode - walking Walk gait
int8 STATE_RUN                 = 6     # Run Mode - High-speed gait (if supported)
int8 STATE_RL_TROT             = 30    # RL Trot - Reinforcement Learning Trot gait
int8 STATE_RL_FRONT_WALK       = 31    # RL Front Walk - Reinforcement Learning Front Walk gait
int8 STATE_RL_LEFT_WALK        = 33    # RL Left Walk - Reinforcement Learning Left Walk gait
int8 STATE_RL_RIGHT_WALK       = 34    # RL Right Walk - Reinforcement Learning Right Walk gait
int8 STATE_RL_BOUND            = 35    # RL Bound - Reinforcement Learning Bound gait
int8 STATE_RL_PACE             = 36    # RL Pace - Reinforcement Learning Pace gait
int8 STATE_RL_PRONK            = 37    # RL Pronk - Reinforcement Learning Pronk gait
int8 STATE_RL_3LEG_HR          = 38    # RL 3Leg HR - Reinforcement Learning 3-Leg gait (Hind Right)
int8 STATE_RL_3LEG_HL          = 39    # RL 3Leg HL - Reinforcement Learning 3-Leg gait (Hind Left)
int8 STATE_RL_3LEG_FR          = 40    # RL 3Leg FR - Reinforcement Learning 3-Leg gait (Front Right)
int8 STATE_RL_3LEG_FL          = 41    # RL 3Leg FL - Reinforcement Learning 3-Leg gait (Front Left)
int8 STATE_RL_TROT_VISION      = 42    # RL Trot Vision - Reinforcement Learning Trot with Vision
int8 STATE_RL_TROT_RUN         = 45    # RL Trot Run - Reinforcement Learning Trot Run gait
int8 STATE_RL_SILENT           = 46    # RL Silent - Reinforcement Learning Silent gait

std_msgs/Header header
bool con_start          # Motor control enabled (1 = enabled, 0 = not enabled)
bool ready_pos          # Robot is in ready position (1 = ready, 0 = not ready)
bool ground_pos         # Robot is in ground/sitting position (1 = sitting, 0 = not sitting)
bool force_con          # Force control mode enabled (1 = enabled, 0 = disabled)
bool ext_joy            # External joystick connected (1 = connected, 0 = not connected)
bool is_standing        # Robot is standing (1 = standing, 0 = not standing)
bool can_check          # CAN communication check (1 = success, 0 = failure)
bool find_home          # Encoder homing status (1 = success, 0 = failure)
int8 gait_id            # Current gait mode identifier (returns value defined GAIT_STATE enum)
bool is_fall            # Fall detection status (1 = robot has fallen, 0 = normal)
int8 docking_state      # Docking process status (returns value defined in DOCKING_STATE enum)
bool imu_success        # IMU connection status (1 = success, 0 = failure)

JointStatus

bash

std_msgs/Header header

# Joint Detail Information
# Connection and Temperature Status
bool[] connected          # Joint connection status (true = connected, false = disconnected)
int8[] temperature        # Board temperature in Celsius
int8[] motor_temp         # Motor temperature in Celsius

# Motor Status Flags
bool[] status_fet         # FET (Field Effect Transistor) status (true = ON, false = OFF)
bool[] status_run         # Motor running status (true = running, false = stopped)
bool[] status_init        # Initialization status (true = initialized, false = not initialized)
bool[] status_mod         # Control mode status (true = position control, false = torque control)
bool[] status_non_ctr     # Nonius count error (true = error, false = normal)
bool[] status_bat         # Battery status (true = low battery, false = normal)
bool[] status_calib       # Calibration status (true = in calibration mode, false = normal)
bool[] status_mt_err      # Motor error status (true = error, false = normal)
bool[] status_jam         # JAM error status (true = jammed, false = normal)
bool[] status_cur         # Over current error (true = over current, false = normal)
bool[] status_big         # Big position error (true = large error, false = normal)
bool[] status_inp         # Input error (true = input error, false = normal)
bool[] status_flt         # FET driver fault error (true = fault, false = normal)
bool[] status_tmp         # Temperature error (true = over temperature, false = normal)
bool[] status_ps1         # Position limit error - lower bound (true = limit reached, false = normal)
bool[] status_ps2         # Position limit error - upper bound (true = limit reached, false = normal)
bool[] status_rsvd        # Reserved status bit

# Control Data
float32[] position_ref    # Reference position in radians
float32[] position_enc    # Encoder position in radians
float32[] velocity        # Joint velocity in deg/s
float32[] torque_ref      # Reference torque in Nm
float32[] current         # Motor current in Amperes
float32[] kp              # Proportional gain (P gain)
float32[] kd              # Derivative gain (D gain)
int32[] owner             # Joint owner ID (which controller owns this joint)

BatteryState

bash

# Status
uint8 STATUS_UNKNOWN = 0
uint8 STATUS_MISSING = 1
uint8 STATUS_CHARGING = 2
uint8 STATUS_DISCHARGING = 3
uint8 STATUS_BOOTING = 4

std_msgs/Header header
string identifier
float64 charge_percentage
float64 current
float64 voltage
float64[] temperatures
uint8 status

FootStates

bash

# Contact constants
uint8 CONTACT_UNKNOWN = 0
uint8 CONTACT_MADE = 1
uint8 CONTACT_LOST = 2

std_msgs/Header header

# Arrays for 4 legs (FL, FR, RL, RR)
geometry_msgs/Point[] foot_position_rt_body    # Foot position relative to body frame (4 elements)
geometry_msgs/Point[] foot_velocity_rt_body    # Foot velocity relative to body frame (4 elements)
uint8[] contact                                 # Contact state for each foot (4 elements)

🎮 3. Command Topics

The following topics are used to send high-level and navigation commands to the RBQ robot.

All commands follow standard ROS 2 message types or custom rbq_msgs definitions.

Command topics are defined as :

Topics	Description
rbq/motion/autoStart	Initialize Joint position and start joint control AutoStart process can be checked by 'RobotStatus' topic CAN check -> Find Home -> Control Start flags will be on
rbq/motion/emergency	Emergency stop - sets all leg joints to high damping mode. This action may cause a shock to the robot.
rbq/motion/switchGait	Switch robot gait mode using gait_id parameter. Check Gait State table above for available gait_id values at "Available Gait States".
rbq/motion/recoveryFlex rbq/motion/switchGait (gait_id: 1)	The 'recoveryFlex' topic is accepted only when the robot is in Fall mode. It commands the robot to return to sitting mode through specific joint movements. Alternatively, you can use 'switchGait' topic with gait_id: 1 (Standing) to recover from Fall mode.
rbq/motion/switchControlMode	Enable or disable HighLevel Command mode. When set to `true`, HighLevel Command mode is enabled and the robot accepts commands from `rbq/motion/cmd_highLevel` topic. When set to `false`, Joystick control mode is enabled instead.

💡 Examples : Publish to each command topic

Auto Start (initialize joints and start control)

⚠️ Before running autoStart, make sure the robot is in the correct initial pose on a flat surface. If you are testing, sit the robot down first (switchGait gait_id: 0).

bash

ros2 topic pub --once /rbq/motion/autoStart std_msgs/msg/Bool "{data: true}"

Emergency Stop

⚠️ This command sets all leg joints to high damping mode — the robot will collapse immediately. If you are testing, sit the robot down first (switchGait gait_id: 0) before using this command.

bash

ros2 topic pub --once /rbq/motion/emergency  std_msgs/msg/Bool "{data: true}"

Switch Gait (e.g. to Walk Mode, gait_id: 3)

bash

ros2 topic pub --once /rbq/motion/switchGait std_msgs/msg/Int8 "{data: 3}"

Recovery from Fall Mode

bash

ros2 topic pub --once /rbq/motion/recoveryFlex std_msgs/msg/Bool "{data: true}"

Switch to HighLevel Command Mode

bash

ros2 topic pub --once rbq/motion/switchControlMode std_msgs/msg/Bool '{data: true}'

Switch to JoyStick Mode

bash

ros2 topic pub --once rbq/motion/switchControlMode std_msgs/msg/Bool '{data: false}'

Static Lock (lock joints in current position)

bash

ros2 topic pub --once /rbq/motion/staticLock std_msgs/msg/Bool "{data: true}"

Static Ready

bash

ros2 topic pub --once /rbq/motion/staticReady std_msgs/msg/Bool "{data: true}"

Static Ground

bash

ros2 topic pub --once /rbq/motion/staticGround std_msgs/msg/Bool "{data: true}"

High-level command topics are defined as :

Topics	Data Structure	Description
rbq/motion/cmd_highLevel	std_msgs/Header header string identifier float64 roll float64 pitch float64 yaw float64 vel_x float64 vel_y float64 omega_z float64 delta_body_h float64 delta_foot_h int8 gait_state bool gait_transition	High-level command topic for robot control based on current gait state. (Check Gait State table and gait_id values at "Available Gait States") • Standing Mode: Adjusts robot body posture based on roll, pitch, yaw (ZYX Euler angles) , The parameter body_H specifies the height of the robot's body Range: Roll: -25~25°, Pitch: -20~20°, Yaw: -25~25°, Delta_body_h: -0.15~0.05m • Walk Mode: Set movement speed of the robot in the local coordinate system while in the trotting gait state. Vx, Vy represents the forward speed, lateral speed and Wz represents rotational speed. During trotting, delta_body_H is used to set the height of the body from its default body height, foot_H is used to set the foot lifting height, and pitch is used to set the pitch angle of the body. Range: Vx: -1.0~1.2m/s, Vy: -0.4~0.4m/s, Wz: -75~75°/s Delta_body_h: -0.15~+0.05m, Delta_foot_h: -0.06~+0.04m • Stairs Mode: Forward, lateral, rotational speeds for stairs navigation Range: Vx: -0.5~0.5m/s, Vy: -0.2~0.2m/s, Wz: -15~15°/s • Run Mode: Forward, lateral, rotational speeds for High-speed movement control Range: Vx: -1.0~1.8m/s, Vy: -0.6~0.6m/s, Wz: -75~75°/s • Wave Mode: Forward, lateral, rotational speeds for Slow movement control Range: Vx: -0.3~0.3m/s, Vy: -0.2~0.2m/s, Wz: -20~20°/s • RL TROT Mode: Reinforcement Learning Trot gait with enhanced speed control Range: Vx: -1.5~2.0m/s, Vy: -1.0~1.0m/s, Wz: -75~75°/s • RL TROT VISION Mode: Reinforcement Learning Trot with Vision integration Range: Vx: -1.5~2.0m/s, Vy: -1.0~1.0m/s, Wz: -75~75°/s
rbq/motion/cmd_navigateTo	geometry_msgs/Pose pose uint8 mode	Navigation command to move robot to specified position: # Approach Modes: 0: Rotate to target → straight walk → rotate to target yaw 1: Rotate to target yaw → diagonal walk to target 2: Diagonal walk to target → rotate to target yaw 3: Rotate to target yaw and diagonal walk simultaneously 4: Approach mode 3 with wide leg walking

💡 Examples : High-level and navigation commands

Walk forward at 0.5 m/s (Walk Mode)

bash

ros2 topic pub --once /rbq/motion/cmd_highLevel rbq_msgs/msg/HighLevelCommand '{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "base"},
  identifier: "walk_fwd",
  roll: 0.0,
  pitch: 0.0,
  yaw: 0.0,
  vel_x: 0.5,
  vel_y: 0.0,
  omega_z: 0.0,
  delta_body_h: 0.0,
  delta_foot_h: 0.0,
  gait_state: 3,
  gait_transition: false}'

Turn 30°/s (Walk Mode)

bash

ros2 topic pub --once /rbq/motion/cmd_highLevel rbq_msgs/msg/HighLevelCommand '{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "base"},
  identifier: "turn",
  roll: 0.0,
  pitch: 0.0,
  yaw: 0.0,
  vel_x: 0.0,
  vel_y: 0.0,
  omega_z: 30.0,
  delta_body_h: 0.0,
  delta_foot_h: 0.0,
  gait_state: 3,
  gait_transition: false}'

Stop in place (zero velocity)

bash

ros2 topic pub --once /rbq/motion/cmd_highLevel rbq_msgs/msg/HighLevelCommand '{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "base"},
  identifier: "stop",
  roll: 0.0,
  pitch: 0.0,
  yaw: 0.0,
  vel_x: 0.0,
  vel_y: 0.0,
  omega_z: 0.0,
  delta_body_h: 0.0,
  delta_foot_h: 0.0,
  gait_state: 3,
  gait_transition: false}'

Navigate to World Coordinate position (x: 20cm, y: 10cm)

bash

ros2 topic pub --once /rbq/motion/cmd_navigateTo geometry_msgs/msg/PoseStamped "
header:
  frame_id: map
pose:
  position:
    x: 0.2
    y: 0.1
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
"

PDU port control mapping (port_id for setPortState)

The port IDs used by the rbq/powerControl/setPortState topic match the enum below.

cpp

enum PDU_PORT_IDs_e : unsigned char {
    PDU_PORT_48V_LEG                    = 0x00,
    PDU_PORT_48V_ADD                    = 0x01,
    PDU_PORT_48V_EXT                    = 0x02,

    PDU_PORT_12V_VisionPC               = 0x10,
    PDU_PORT_12V_COMM                   = 0x11,
    PDU_PORT_12V_Lidar                  = 0x12,
    PDU_PORT_12V_CCTV                   = 0x13,
    PDU_PORT_12V_THER                   = 0x14,
    PDU_PORT_12V_IRLed                  = 0x15,
    PDU_PORT_12V_Speaker                = 0x16,

    PDU_PORT_5V_CAMERAS                 = 0x20,
    PDU_PORT_5V_AUDIO_SIDE_CAM_USBHUB   = 0x21,
};

PDU port control (e.g. turn on 12V LiDAR port)

12V LiDAR is PDU_PORT_12V_Lidar = 0x12 (18).

bash

ros2 topic pub --once /rbq/powerControl/setPortState std_msgs/msg/Int8MultiArray "{data: [18, 1]}"

The msg of High-Level command is defined as :

HighLevelCommand

bash

std_msgs/Header header         # ROS message header with timestamp and frame_id
string identifier              # Command identifier for tracking/logging purposes
float64 roll                   # Body roll angle in degrees (ZYX Euler angles)
float64 pitch                  # Body pitch angle in degrees (ZYX Euler angles)  
float64 yaw                    # Body yaw angle in degrees (ZYX Euler angles)
float64 vel_x                  # Linear velocity in X direction (m/s)
float64 vel_y                  # Linear velocity in Y direction (m/s)
float64 omega_z                # Angular velocity around Z axis (deg/s)
float64 delta_body_h           # Body height adjustment from default (m)
float64 delta_foot_h           # Foot height adjustment from default (m)
int8	gait_state             # Target gait state (use constants defined above)
bool	gait_transition        # Enable(true)/disable(false) gait transition during command execution

💡 Example: Standing mode with custom pose (roll: 15°, pitch: 30°, yaw: 20°)

bash

ros2 topic pub --once rbq/motion/cmd_highLevel rbq_msgs/msg/HighLevelCommand \
'{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "base"}, identifier: "standing_pose", roll: 15.0, pitch: 30.0, yaw: 20.0, vel_x: 0.0, vel_y: 0.0, omega_z: 0.0, delta_body_h: 0.0, delta_foot_h: 0.0, gait_state: 1, gait_transition: true}'

📷 4. Vision Topics

PTZ Camera Control Topics

Topic	Description
rbq/ptzCamera/setPanTiltZoom	PTZ camera control command using Float32MultiArray [pan, tilt, zoom]

💡 example:

bash

ros2 topic pub --once rbq/ptzCamera/setPanTiltZoom std_msgs/msg/Float32MultiArray "{data: [0.0, 0.0, 1.0]}"

Camera Sensor Topics

Camera sensors provide RGB, IR, and depth images from multiple positions around the robot. Images are published in both raw and compressed formats with corresponding camera calibration information.
📍 Hardware Information: For detailed camera specifications, FOV, and transformation matrices, refer to the Visual Sensors Hardware Manual.

Camera	Image Type	Format	Topic Name
Bottom (0-3)	IR	Raw	rbq/vision/sensor_bottom_0/ir rbq/vision/sensor_bottom_1/ir rbq/vision/sensor_bottom_2/ir rbq/vision/sensor_bottom_3/ir
		Compressed	rbq/vision/sensor_bottom_0/ir/compressed rbq/vision/sensor_bottom_1/ir/compressed rbq/vision/sensor_bottom_2/ir/compressed rbq/vision/sensor_bottom_3/ir/compressed
		Camera Info	rbq/vision/sensor_bottom_0/ir/camera_info rbq/vision/sensor_bottom_1/ir/camera_info rbq/vision/sensor_bottom_2/ir/camera_info rbq/vision/sensor_bottom_3/ir/camera_info
	Depth	Raw	rbq/vision/sensor_bottom_0/depth rbq/vision/sensor_bottom_1/depth rbq/vision/sensor_bottom_2/depth rbq/vision/sensor_bottom_3/depth
		Compressed	rbq/vision/sensor_bottom_0/depth/compressed rbq/vision/sensor_bottom_1/depth/compressed rbq/vision/sensor_bottom_2/depth/compressed rbq/vision/sensor_bottom_3/depth/compressed
		Camera Info	rbq/vision/sensor_bottom_0/depth/camera_info rbq/vision/sensor_bottom_1/depth/camera_info rbq/vision/sensor_bottom_2/depth/camera_info rbq/vision/sensor_bottom_3/depth/camera_info
Front/Rear	RGB	Raw	rbq/vision/sensor_front/rgb rbq/vision/sensor_rear/rgb
		Compressed	rbq/vision/sensor_front/rgb/compressed rbq/vision/sensor_rear/rgb/compressed
		Camera Info	rbq/vision/sensor_front/rgb/camera_info rbq/vision/sensor_rear/rgb/camera_info
	IR	Raw	rbq/vision/sensor_front/ir rbq/vision/sensor_rear/ir
		Compressed	rbq/vision/sensor_front/ir/compressed rbq/vision/sensor_rear/ir/compressed
		Camera Info	rbq/vision/sensor_front/ir/camera_info rbq/vision/sensor_rear/ir/camera_info
	Depth	Raw	rbq/vision/sensor_front/depth rbq/vision/sensor_rear/depth
		Compressed	rbq/vision/sensor_front/depth/compressed rbq/vision/sensor_rear/depth/compressed
		Camera Info	rbq/vision/sensor_front/depth/camera_info rbq/vision/sensor_rear/depth/camera_info

🖼️ RViz Visualization

Launch RViz2 with GUI

You can simultaneously visualize and send commands to the robot through the GUI on the left side of RViz.
Go to your workspace directory first:
bash
cd <your workspace>/RBQ
Then launch RViz:

bash

source ros2/install/local_setup.bash
./scripts/start_rviz.bash

📘 Help

If you encounter problems when using this repository, feel free to open an issue.

👥 Contributors

This project is provided by the Rainbow-Robotics.

Rainbow-Robotics contributors:

Gurbann
Jinwon Seo

📘 RBQ Introduction ​

💻 System requirements ​

🛠️ Installation ​

System Setup ​

Package Installation ​

▶️ Run nodes ​

1. Connect your PC to the robot's Wi-Fi ​

2. Connect to robot pc via SSH ​

3. Run the process on robot pc ​

4. DDS setup on developer PC (when sending topics to robot PC) ​

5. Test list of active topics ​

⚡ Quick Start ​

1. Switch to HighLevel Command Mode ​

2. Auto Start (initialize joints and start control) ​

3. Gait Transition (Sit → Stand → Walk) ​

4. Send Velocity Commands ​

📋 Topics ​

🦿 1. Gait State Topics ​

📡 2. Low-level State Topics ​

🎮 3. Command Topics ​

📷 4. Vision Topics ​

🖼️ RViz Visualization ​

Launch RViz2 with GUI ​

📘 Help ​

👥 Contributors ​

📘 RBQ Introduction

💻 System requirements

🛠️ Installation

System Setup

Package Installation

▶️ Run nodes

1. Connect your PC to the robot's Wi-Fi

2. Connect to robot pc via SSH

3. Run the process on robot pc

4. DDS setup on developer PC (when sending topics to robot PC)

5. Test list of active topics

⚡ Quick Start

1. Switch to HighLevel Command Mode

2. Auto Start (initialize joints and start control)

3. Gait Transition (Sit → Stand → Walk)

4. Send Velocity Commands

📋 Topics

🦿 1. Gait State Topics

📡 2. Low-level State Topics

🎮 3. Command Topics

📷 4. Vision Topics

🖼️ RViz Visualization

Launch RViz2 with GUI

📘 Help

👥 Contributors