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 / DdsBridge) 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/DdsBridge republishes every Pub state topic in one ~500 Hz loop, 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
`-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
`2`	Aim Mode	Aiming posture for targeting
`3`	Walk (Trot)	Walking trot gait
`4`	Stairs	Stair-adaptive gait (uses camera)
`5`	Wave	Walking wave gait
`6`	Run	High-speed gait (if supported)
`30`	RL Trot	Reinforcement Learning trot
`31`	RL Front Walk	RL forward walking
`33`	RL Left Walk	RL left-side walking
`34`	RL Right Walk	RL right-side walking
`35`	RL Bound	RL bounding gait
`36`	RL Pace	RL pace gait
`37`	RL Pronk	RL pronk gait
`38`–`41`	RL 3-Leg	RL 3-legged gaits (HR, HL, FR, FL)
`42`	RL Trot Vision	RL trot with vision integration
`45`	RL Trot Run	RL high-speed trot
`46`	RL Silent	RL silent gait
`47`	RL Stairs	RL stair gait

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]` / Run `[-1.0, +1.8]` / RL Trot `[-1.5, +2.0]` / RL Walk `[-1.5, +2.5]` / Stairs `[-1.0, +1.0]`
`vel_y`	`float32`	m/s	Lateral speed. Walk `[-0.4, +0.4]` / Run `[-0.6, +0.6]` / RL Trot `[-1.0, +1.0]` / 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.

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 ​

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

TF

`/tf`

`/rbq/joy`

Topic Subscription Examples