ROS 2 Topic Reference

Complete reference of the ROS 2 topics exposed by the robot's onboard software over CycloneDDS.

There is no separate driver node to run. The core software (Network) speaks ROS 2-compatible DDS directly, so ros2 topic, rviz2, and rqt interoperate with the robot without launching any bridge process. (The legacy rbq_driver node and start_ros_driver.bash are removed — the script is now a deprecated no-op.)

Pub — robot publishes, your node subscribes
Sub — your node publishes, robot subscribes

Custom message types (rbq_msgs/*, api/*) require sourcing the built workspace:

bash

source rbq_sdk/ros2/install/setup.bash

Topics whose name contains a token starting with _ (e.g. /rbq/_sim, /rbq/_user_command, /rbq/ref/motion/_0) are hidden — ros2 topic list shows them only with --include-hidden-topics.

Publish rate — Network republishes every Pub state topic at ~500 Hz, so the Hz below is that publish rate (measured with ros2 topic hz), not the underlying sensor/value update rate.

Motion Commands

`/rbq/cmd/auto_start`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Full initialization sequence: CAN check → Find Home → Control Start. Robot must be in the correct initial pose. Monitor progress via `/rbq/robot_status` (`can_check`, `find_home`, `con_start` flags).

`/rbq/cmd/switch_gait`

Field	Value
Type	`std_msgs/Int8`
Direction	Sub
Description	Switch to the target gait by `gait_id`. See Gait State Reference below.

`/rbq/cmd/switch_control_mode`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	`true` → HighLevel Command mode (accepts `/rbq/cmd/high_level`). `false` → Joystick mode (default).

`/rbq/cmd/emergency`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Immediately set all joints to high-damping mode. Robot collapses instantly. Sit the robot down first if testing.

`/rbq/cmd/dock`

Field	Value
Type	`std_msgs/Int8MultiArray`
Direction	Sub
Description	Start the auto-docking sequence. `data[0]`: walk mode — `0` = wave (default), `1` = trot. `data[1]`: vision mode — `0` = blind (default), `1` = vision height feedback (trot only). Robot must be in Standing mode and the rear camera must see the ArUco marker (≤ 5 m). Monitor via `robot_status.docking_state`.

`/rbq/ref/payload_params`

Field	Value
Type	`std_msgs/Float64MultiArray`
Direction	Sub
Description	Set external payload parameters for CoM compensation. `data: [mass_kg, com_x, com_y, com_z]` (meters). Used when carrying additional loads.

Gait State Reference

One gait enum is used in both directions: send it on HighLevelCommand.gait_state (also used by switch_gait), and read the same value back on robot_status.gait_id.

`gait_id`	Name	Description
`-3`	Fall Recovery	Automatic recovery attempt after a fall
`-2`	Fall Mode	Triggered by unexpected loss of balance
`-1`	Control Off	All actuators disabled
`0`	Sitting	Low posture, resting on ground
`1`	Standing	Neutral posture, ready to walk
`3`	Walk (Trot)	Walking trot gait
`4`	Stairs	Stair-adaptive gait (uses camera)
`5`	Wave	Walking wave gait
`10`	Docking	Auto-docking sequence
`48`	RL Walk (Vision)	Learned walking gait with vision-based terrain adaptation
`49`	RL Walk	Learned walking gait

Setting an RL gait

HighLevelCommand.msg does not yet define name constants for 48 / 49 — assign the number directly to gait_state.

High-Level Control

`/rbq/cmd/high_level`

Field	Value
Type	`rbq_msgs/HighLevelCommand`
Direction	Sub
Description	Velocity and posture command. Behavior and valid ranges depend on the current gait. Requires HighLevel mode (`switch_control_mode: true`).

Fields:

Field	Type	Unit	Description
`header`	`std_msgs/Header`	—	ROS header with timestamp
`identifier`	`string`	—	Optional label for logging/tracking
`roll`	`float32`	deg	Body roll. Standing `[-25, +25]`
`pitch`	`float32`	deg	Body pitch. Standing `[-20, +20]`, Walk (body tilt angle), RL Walk `[-25, +25]`
`yaw`	`float32`	deg	Body yaw twist. Standing `[-25, +25]`
`vel_x`	`float32`	m/s	Forward speed. Walk `[-1.0, +1.2]` / RL Walk `[-1.5, +2.5]` / Stairs `[-1.0, +1.0]`
`vel_y`	`float32`	m/s	Lateral speed. Walk `[-0.4, +0.4]` / RL Walk `[-1.0, +1.0]` / Stairs `[-0.4, +0.4]`
`omega_z`	`float32`	deg/s	Yaw rate. Walk `[-75, +75]` / Stairs `[-17, +17]` / Wave `[-20, +20]` / RL Walk `[-86, +86]`
`delta_body_h`	`float32`	m	Body height offset from default. Standing/Walk `[-0.15, +0.05]` / RL Walk `[-0.25, +0.10]`
`delta_foot_h`	`float32`	m	Swing foot lift offset. `[-0.06, +0.04]`
`gait_state`	`int8`	—	Target gait ID (see Gait State Reference)
`gait_transition`	`bool`	—	`true` = transition to `gait_state` first, then apply command

Example commands:

bash

# Walk forward at 0.5 m/s (gait_state: 3 = Walk/Trot)
ros2 topic pub --once /rbq/cmd/high_level 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}'

# Rotate in place at 30°/s
ros2 topic pub --once /rbq/cmd/high_level 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 (zero velocity)
ros2 topic pub --once /rbq/cmd/high_level 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}'

# Custom standing posture (roll: 15°, pitch: 30°, yaw: 20°)
ros2 topic pub --once /rbq/cmd/high_level 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}'

`/rbq/cmd/navigate_to`

Field	Value
Type	`geometry_msgs/Pose2D`
Direction	Sub
Description	Move to an absolute world-frame pose. `x`, `y` set the target position in meters; `theta` sets the target yaw in radians. Available in Standing and Wave modes.

`/rbq/cmd/target_go`

Field	Value
Type	`rbq_msgs/TargetGo`
Direction	Sub
Description	Relative "go to target" navigation command (gait, mode, `x`/`y`/`theta`, offsets, and `slow`/`wide`/`vision` flags). See the Target-Go example.

Robot Status

`/rbq/robot_status`

Field	Value
Type	`rbq_msgs/RobotStatus`
Direction	Pub
Hz	500
Description	Overall robot status flags, gait state, and docking progress.

Fields:

Field	Type	Description
`header`	`std_msgs/Header`	ROS header
`con_start`	`bool`	Motor control enabled
`ready_pos`	`bool`	Robot is in ready position
`ground_pos`	`bool`	Robot is in ground/sitting position
`force_con`	`bool`	Force control mode active
`ext_joy`	`bool`	External joystick connected
`is_standing`	`bool`	Robot is physically standing
`can_check`	`bool`	CAN communication verified
`find_home`	`bool`	Encoder homing complete
`gait_id`	`int8`	Current gait. See Gait State Reference.
`is_fall`	`bool`	Fall detected
`docking_state`	`int8`	Docking progress (see table below)
`imu_success`	`bool`	IMU connected and operational

Docking State Values:

Value	Constant	Description
`-6`	`DOCKING_MAX_FAIL_CNT_REACHED`	Max retry count (10×) reached — aborted
`-5`	`DOCKING_MARKER_POS_INVALID_ROTATION`	Marker rotation > ±40° — aborted
`-4`	`DOCKING_MARKER_POS_INVALID_TOO_FAR`	Marker > 5 m — aborted
`-3`	`DOCKING_MARKER_POS_INVALID_WRONG_DIR`	Marker detected on front side — aborted
`-2`	`DOCKING_MARKER_NOT_FOUND`	Marker not found — aborted
`-1`	`DOCKING_FAILED`	Docking failed — auto retry
`0`	`DOCKING_OPERATION_MODE`	Normal operation (not docking)
`1`	`DOCKING_APPROACH_OFFSET`	Stage 1: offset approach
`2`	`DOCKING_APPROACH`	Stage 2: direct approach
`3`	`DOCKING_APPROACH_WIDE`	Stage 3: wide-stance approach
`4`	`DOCKING_SIT_DOWN`	Sitting down to connect
`5`	`DOCKING_SUCCESS`	Docked — charger physically connected
`6`	`DOCKING_SUCCESS_CHARGING`	Docked and charging
`7`	`DOCKING_SUCCESS_NO_CHARGING`	Docked but not charging

`/rbq/system_log`

Field	Value
Type	`rbq_msgs/SystemLog`
Direction	Pub
Description	Robot-side log stream. Fields: `header`, `string log_level`, `string log_msg`.

State Estimation

`/rbq/odometry`

Field	Value
Type	`nav_msgs/Odometry`
Direction	Pub
Hz	500
Description	Body pose and velocity in the world frame. Origin resets at startup. Fused from IMU and leg odometry.

`/rbq/foot_states`

Field	Value
Type	`rbq_msgs/FootStates`
Direction	Pub
Hz	500
Description	Foot positions, velocities, and contact states for all 4 legs relative to the body center frame.

Fields:

Field	Type	Description
`header`	`std_msgs/Header`	ROS header
`foot_position_rt_body`	`geometry_msgs/Point[4]`	Foot position relative to body center. +X=forward, +Y=left, +Z=up
`foot_velocity_rt_body`	`geometry_msgs/Point[4]`	Foot velocity relative to body frame
`foot_contact_est`	`uint8[4]`	Contact state per foot: `0` = `CONTACT_LOST`, `1` = `CONTACT_MADE`
`foot_force_est`	`float32[4]`	Estimated contact force [N]

Leg order: [0] = Front-Left, [1] = Front-Right, [2] = Rear-Left, [3] = Rear-Right

Sensor Feedback

`/rbq/imu`

Field	Value
Type	`sensor_msgs/Imu`
Direction	Pub
Hz	500
Description	Raw IMU data. Sensor offset from body center: `(0.00665, 0.0, -0.0404)` m. Frame: +X = forward, +Y = left, +Z = up. Angular velocity range ±2000 °/s, acceleration range ±16 g.

`/rbq/joint_states`

Field	Value
Type	`sensor_msgs/JointState`
Direction	Pub
Hz	500
Description	Joint positions [rad], velocities [rad/s], and efforts [Nm] for all 12 leg joints in standard ROS format.

`/rbq/leg_joint`

Field	Value
Type	`rbq_msgs/LegJointInfo`
Direction	Pub
Hz	500
Description	Detailed per-joint status for all 12 leg joints. `LegJointInfo` wraps `JointInfo[12] joint` — one `JointInfo` per joint (there is no `JointStatus` message).

Joint order (conventional): [0]HRR [1]HRP [2]HRK [3]HLR [4]HLP [5]HLK [6]FRR [7]FRP [8]FRK [9]FLR [10]FLP [11]FLK — but each joint[i] carries its own 3-letter name, which is the authoritative identifier.

JointInfo fields (each element of joint[12]):

Field	Type	Unit	Description
`pos`	`float32`	rad	Measured position
`vel`	`float32`	rad/s	Angular velocity
`acc`	`float32`	rad/s²	Angular acceleration
`torque`	`float32`	N·m	Measured torque
`kp`	`float32`	Nm/rad	Position gain
`kd`	`float32`	Nm·s/rad	Damping gain
`owner`	`int8`	—	Process owning the joint (`0`–`40`)
`ref_ff_torque`	`float32`	N·m	Reference feed-forward torque
`ref_position`	`float32`	rad	Reference (target) position
`ref_vel`	`float32`	rad/s	Reference velocity
`current`	`float32`	A	Motor current
`temperature_board`	`int8`	°C	Control board temperature
`temperature_coil`	`int8`	°C	Motor coil temperature
`name`	`string≤3`	—	3-letter joint name, e.g. `"HRR"`
`status`	`string≤3`	—	3-letter lifecycle: `NON`/`CON`/`HOM`/`RUN`
`error_msg`	`string≤3`	—	3-letter error code, e.g. `"JAM"`, `"OK"`

Torque limits: Roll/Pitch ±104 Nm — Knee −70 / +140 Nm

Power Control

`/rbq/cmd/switch_power`

Field	Value
Type	`std_msgs/Int8MultiArray`
Direction	Sub
Description	Toggle a PDU power port. `data: [port_id, state]` — `state`: `1`=ON, `0`=OFF.

Port ID Reference:

`port_id`	Port
`0` (`0x00`)	48 V — Leg actuators
`1` (`0x01`)	48 V — Add-on device (top)
`2` (`0x02`)	48 V — External port (top)
`16` (`0x10`)	12 V — Vision PC (internal)
`17` (`0x11`)	12 V — LAN comm port (top)
`18` (`0x12`)	12 V — LiDAR port (top)
`19` (`0x13`)	12 V — CCTV port (top)
`20` (`0x14`)	12 V — Thermal cam port (top)
`21` (`0x15`)	12 V — IR LED (front/rear panel)
`22` (`0x16`)	12 V — Speaker amplifier
`32` (`0x20`)	5 V — Camera USB hub
`33` (`0x21`)	5 V — Audio / side-cam USB hub

cpp

// PDU port ID enum (used as data[0] in switch_power)
enum PDU_PORT_IDs_e : unsigned char {
    PDU_PORT_48V_LEG                   = 0x00,  // Leg actuators
    PDU_PORT_48V_ADD                   = 0x01,  // Add-on device
    PDU_PORT_48V_EXT                   = 0x02,  // External port
    PDU_PORT_12V_VisionPC              = 0x10,  // Vision PC
    PDU_PORT_12V_COMM                  = 0x11,  // LAN comm port
    PDU_PORT_12V_Lidar                 = 0x12,  // LiDAR port
    PDU_PORT_12V_CCTV                  = 0x13,  // CCTV port
    PDU_PORT_12V_THER                  = 0x14,  // Thermal camera
    PDU_PORT_12V_IRLed                 = 0x15,  // IR LED
    PDU_PORT_12V_Speaker               = 0x16,  // Speaker amplifier
    PDU_PORT_5V_CAMERAS                = 0x20,  // Camera USB hub
    PDU_PORT_5V_AUDIO_SIDE_CAM_USBHUB  = 0x21,  // Audio/side-cam USB hub
};

Example: turn on 12V LiDAR port (PDU_PORT_12V_Lidar = 0x12 → decimal 18)

bash

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

`/rbq/battery`

Field	Value
Type	`rbq_msgs/BatteryState`
Direction	Pub
Hz	500
Description	Battery status for the dual battery pack. Every field is a 2-element array (`[0]` = pack 0, `[1]` = pack 1).

Fields:

Field	Type	Description
`header`	`std_msgs/Header`	ROS header
`identifier`	`uint32[2]`	Per-pack identifier
`status`	`uint8[2]`	`0`=Unknown `1`=Missing `2`=Charging `3`=Discharging
`charge_percentage`	`uint8[2]`	State of charge `[0, 100]` %
`temperature`	`int8[2]`	Pack temperature [°C]
`current`	`float32[2]`	Load current [A]
`voltage`	`float32[2]`	Pack voltage [V]

Vision — Camera Sensors

All camera topics are published by the robot (Pub). Sensors are identified by numeric id — sensor_0–sensor_5 (the old name-based sensor_bottom_N / sensor_front / sensor_rear topics are gone). Each stream has /compressed, /camera_info, and a per-stream /tf (geometry_msgs/PoseStamped).

Sensor id	Location	Streams
`sensor_0`–`sensor_3`	Bottom/body depth sensors	`depth`, `ir`
`sensor_4`	Front RGB-D	`depth`, `rgb`
`sensor_5`	Rear RGB-D (also ArUco docking)	`depth`, `rgb`

Topic pattern: /rbq/vision/sensor_{N}/{stream}/{sub}

Topic	Type	Description
`/rbq/vision/sensor_{N}/{stream}/compressed`	`sensor_msgs/CompressedImage`	Compressed frame (depth = PNG, ir/rgb = JPEG)
`/rbq/vision/sensor_{N}/{stream}/camera_info`	`sensor_msgs/CameraInfo`	Intrinsics + distortion
`/rbq/vision/sensor_{N}/{stream}/tf`	`geometry_msgs/PoseStamped`	Sensor pose relative to the body

{stream} is depth/ir for sensor_0–sensor_3, and depth/rgb for sensor_4/sensor_5.

Camera threads publish only while a subscriber is attached (hasSubscribers gate) — subscribe first, then read.

Vision — PTZ Camera

Available only when the optional PTZ camera payload is installed and the Ptz app is running. These topics publish at 20 Hz rather than the 500 Hz of the motion state topics.

Both carry std_msgs/Float64MultiArray with the same layout and units, so a client reads back what it sends.

Index	Field	Unit	Range
`data[0]`	pan	rad	`[-175°, +175°]`
`data[1]`	tilt	rad	`[-90°, +23°]` — asymmetric, only 23° upward
`data[2]`	zoom	×	`[1, 32]`

`/rbq/ptz`

Field	Value
Type	`std_msgs/Float64MultiArray`
Direction	Pub
Hz	20
Description	Measured pan/tilt angle and camera zoom. `data[2] == 0` means the payload has no CCTV camera configured, so there is no zoom to report. The zoom reading refreshes more slowly than pan/tilt and can lag it by a few hundred milliseconds.

`/rbq/cmd/ptz`

Field	Value
Type	`std_msgs/Float64MultiArray`
Direction	Sub
Description	Absolute pan/tilt/zoom setpoint. Values outside the ranges above are clamped by the firmware. The message is ignored unless `data` holds exactly 3 finite values. A setpoint is latched — send once and the camera holds that pose.

All three values are applied together. Sending [new_pan, 0, 0] to change pan alone also drives tilt to 0 and resets zoom. Read /rbq/ptz first and echo back the fields you do not want to change.

Examples:

bash

# Read current state
ros2 topic echo --once /rbq/ptz

# Look 20° left, 10° down, 4x zoom  (0.349 rad, -0.175 rad)
ros2 topic pub --once /rbq/cmd/ptz std_msgs/msg/Float64MultiArray "{data: [0.349, -0.175, 4.0]}"

# Return to center at 1x
ros2 topic pub --once /rbq/cmd/ptz std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 1.0]}"

TF

`/tf`

Field	Value
Type	`tf2_msgs/TFMessage`
Direction	Pub
Description	Dynamic transforms broadcast at runtime: `odom → base_link`, body → leg links, body → sensor frames.

/tf_static (URDF fixed transforms) is published by the rbq_description robot_state_publisher, i.e. only when you run ros2 launch rbq_description description.launch.py — it is not emitted by the robot's core software.

`/rbq/joy`

Field	Value
Type	`sensor_msgs/Joy`
Direction	Pub
Description	The robot's current joystick input state (passthrough). Axes `[0–5]`: left-X, left-Y, right-X, right-Y, L2, R2. Buttons `[0–15]`.

Topic Subscription Examples

bash

# Robot status (50 Hz)
ros2 topic echo --once /rbq/robot_status

# Per-joint leg status (50 Hz)
ros2 topic echo --once /rbq/leg_joint

# IMU data (200 Hz)
ros2 topic echo --once /rbq/imu

# Battery state (10 Hz)
ros2 topic echo --once /rbq/battery

# Foot contact states (50 Hz)
ros2 topic echo --once /rbq/foot_states

# Odometry (50 Hz)
ros2 topic echo --once /rbq/odometry

ROS 2 Topic Reference ​

Motion Commands ​

/rbq/cmd/auto_start ​

/rbq/cmd/switch_gait ​

/rbq/cmd/switch_control_mode ​

/rbq/cmd/emergency ​

/rbq/cmd/dock ​

/rbq/ref/payload_params ​

Gait State Reference ​

High-Level Control ​

/rbq/cmd/high_level ​

/rbq/cmd/navigate_to ​

/rbq/cmd/target_go ​

Robot Status ​

/rbq/robot_status ​

/rbq/system_log ​

State Estimation ​

/rbq/odometry ​

/rbq/foot_states ​

Sensor Feedback ​

/rbq/imu ​

/rbq/joint_states ​

/rbq/leg_joint ​

Power Control ​

/rbq/cmd/switch_power ​

/rbq/battery ​

Vision — Camera Sensors ​

Vision — PTZ Camera ​

/rbq/ptz ​

/rbq/cmd/ptz ​

TF ​

/tf ​

/rbq/joy ​

Topic Subscription Examples ​

ROS 2 Topic Reference

Motion Commands

`/rbq/cmd/auto_start`

`/rbq/cmd/switch_gait`

`/rbq/cmd/switch_control_mode`

`/rbq/cmd/emergency`

`/rbq/cmd/dock`

`/rbq/ref/payload_params`

Gait State Reference

High-Level Control

`/rbq/cmd/high_level`

`/rbq/cmd/navigate_to`

`/rbq/cmd/target_go`

Robot Status

`/rbq/robot_status`

`/rbq/system_log`

State Estimation

`/rbq/odometry`

`/rbq/foot_states`

Sensor Feedback

`/rbq/imu`

`/rbq/joint_states`

`/rbq/leg_joint`

Power Control

`/rbq/cmd/switch_power`

`/rbq/battery`

Vision — Camera Sensors

Vision — PTZ Camera

`/rbq/ptz`

`/rbq/cmd/ptz`

TF

`/tf`

`/rbq/joy`

Topic Subscription Examples