ROS 2 Topic Reference

Complete reference of all ROS 2 topics published and subscribed by the rbq_driver node.

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

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

bash

source ros2/install/setup.bash

Motion Commands

`/rbq/motion/autoStart`

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/status/robot_status` (`can_check`, `find_home`, `con_start` flags).

`/rbq/motion/canCheck`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Verify CAN communication with all motor controllers. Result reflected in `robot_status.can_check`.

`/rbq/motion/findHome`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Run encoder homing for all joints. Result reflected in `robot_status.find_home`.

`/rbq/motion/switchGait`

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

`/rbq/motion/switchControlMode`

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

`/rbq/motion/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/motion/recoveryFlex`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Recovery from Fall mode. Executes specific joint movements to return to sitting posture. Only accepted in Fall mode (`gait_id: -2`).

`/rbq/motion/recoveryErrorClear`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Clear recoverable error flags without executing a full recovery motion.

`/rbq/motion/staticLock`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Lock all joints at the current position using position control.

`/rbq/motion/staticReady`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Transition to the ready posture using static position control (no dynamic balance).

`/rbq/motion/staticGround`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Transition to the ground/sitting posture using static position control.

`/rbq/motion/docking`

Field	Value
Type	`std_msgs/Bool`
Direction	Sub
Description	Start auto-docking sequence with default options (wave gait + blind). Robot must be in Standing mode and the rear camera must see the ArUco marker (≤ 5 m). Monitor via `robot_status.docking_state`.

`/rbq/motion/docking_mode`

Field	Value
Type	`std_msgs/Int8MultiArray`
Direction	Sub
Description	Start auto-docking with explicit options. `data[0]`: walk mode — `0` = wave (default), `1` = trot. `data[1]`: vision mode — `0` = blind (default), `1` = vision height feedback (trot only).

`/rbq/motion/setBodyHeight`

Field	Value
Type	`std_msgs/Char`
Direction	Sub
Description	Adjust body height offset. Value `0`–`255` maps to `[-0.15, +0.05]` m from default.

`/rbq/motion/setFootHeight`

Field	Value
Type	`std_msgs/Char`
Direction	Sub
Description	Adjust swing foot lift height. Value `0`–`255` maps to `[-0.06, +0.04]` m from default.

`/rbq/motion/setMaxSpeed`

Field	Value
Type	`std_msgs/Char`
Direction	Sub
Description	Adjust the maximum walking speed scale. Value range: `0`–`255`.

`/rbq/motion/additional_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

`gait_id`	Name	Description
`-3`	Fall Recovery	Automatically triggered after fall detection
`-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)	MPC trot gait
`4`	Stairs	Stair-adaptive gait (uses camera)
`5`	Wave	Slow walking gait
`6`	Run	High-speed gait
`7`	Door Opening	Front leg door-push motion
`8`	ZMP Initializing	ZMP calibration in progress
`9`	Manipulation	Arm manipulation mode
`10`	Docking	Automatic charging station docking
`30`	RL Trot	Reinforcement Learning trot
`31`	RL Front Walk	RL forward walking
`32`	RL Hind Walk	RL backward walking
`33`	RL Left Walk	RL left-side walking
`34`	RL Right Walk	RL right-biased walk
`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
`48`	RL Walk Vision	RL walk with terrain height feedback (height/pitch adjustable)
`49`	RL Walk	RL walk (height/pitch adjustable)

Commands available per gait state:

The second column shows commands available only in that state. Common commands and power control are always available regardless of gait state.

Gait State	Mode-Specific Commands	Common Commands	Power Control
Control Off	`rbq/motion/autoStart`		`rbq/powerControl/setPortState`
Sitting	`rbq/motion/canCheck`	`rbq/motion/switchGait` `rbq/motion/cmd_highLevel` `rbq/motion/emergency` `rbq/motion/staticLock` `rbq/motion/staticReady` `rbq/motion/staticGround` `rbq/motion/switchControlMode`
Standing	`rbq/motion/cmd_navigateTo` `rbq/stateEstimation/comEstimationCompensation` `rbq/motion/docking` `rbq/motion/docking_mode`
Walk / Stairs / Run / RL	—
Wave	`rbq/motion/cmd_navigateTo`
Fall Mode	`rbq/motion/recoveryFlex` `rbq/motion/switchGait` (gait_id: 1)

High-Level Control

`/rbq/motion/cmd_highLevel`

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 (`switchControlMode: true`).

Fields:

Field	Type	Unit	Description
`header`	`std_msgs/Header`	—	ROS header with timestamp
`identifier`	`string`	—	Optional label for logging/tracking
`roll`	`float64`	deg	Body roll. Standing `[-25, +25]`
`pitch`	`float64`	deg	Body pitch. Standing `[-20, +20]`, Walk (body tilt angle), RL Walk `[-25, +25]`
`yaw`	`float64`	deg	Body yaw twist. Standing `[-25, +25]`
`vel_x`	`float64`	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`	`float64`	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`	`float64`	deg/s	Yaw rate. Walk `[-75, +75]` / Stairs `[-17, +17]` / Wave `[-20, +20]` / RL Walk `[-86, +86]`
`delta_body_h`	`float64`	m	Body height offset from default. Standing/Walk `[-0.15, +0.05]` / RL Walk `[-0.25, +0.10]`
`delta_foot_h`	`float64`	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_id: 3 = TROTTING)
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}'

# Rotate in place at 30°/s
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 (zero velocity)
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}'

# Custom standing posture (roll: 15°, pitch: 30°, yaw: 20°)
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}'

`/rbq/motion/cmd_navigateTo`

Field	Value
Type	`geometry_msgs/PoseStamped`
Direction	Sub
Description	Move to an absolute world-frame pose. `pose.position` sets the target `(x, y)` in meters. `pose.orientation` sets the target yaw as a quaternion. Available in Standing and Wave modes.

`/rbq/stateEstimation/comEstimationCompensation`

Field	Value
Type	`std_msgs/Char`
Direction	Sub
Description	Trigger CoM calibration in Standing mode. Searches along the X-axis to improve walking stability. Call after `stand()` before walking.

Robot Status

`/rbq/status/robot_status`

Field	Value
Type	`rbq_msgs/RobotStatus`
Direction	Pub
Hz	50
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/status/comm_connected`

Field	Value
Type	`std_msgs/Bool`
Direction	Pub
Description	`true` when the communication module is connected to the robot.

State Estimation

`/rbq/stateEstimation/odometry`

Field	Value
Type	`nav_msgs/Odometry`
Direction	Pub
Hz	50
Description	Body pose and velocity in the world frame. Origin resets at driver start. Fused from IMU and leg odometry.

`/rbq/stateEstimation/robotVelocity`

Field	Value
Type	`geometry_msgs/VelocityStamped`
Direction	Pub
Hz	50
Description	Linear and angular velocity expressed in the body frame. +X = forward, +Y = left, +Z = up.

`/rbq/stateEstimation/footStates`

Field	Value
Type	`rbq_msgs/FootStates`
Direction	Pub
Hz	50
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
`contact[]`	`uint8[4]`	Contact state: `0`=Unknown, `1`=Contact, `2`=Lost
`force[]`	`float64[4]`	Estimated contact force [N]

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

Sensor Feedback

`/rbq/imu/IMU_state`

Field	Value
Type	`sensor_msgs/Imu`
Direction	Pub
Hz	200
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/joint_states`

Field	Value
Type	`sensor_msgs/JointState`
Direction	Pub
Hz	50
Description	Joint positions [rad], velocities [rad/s], and efforts [Nm] for all 12 joints in standard ROS format.

`/rbq/joint/joint_status`

Field	Value
Type	`rbq_msgs/JointStatus`
Direction	Pub
Hz	50
Description	Detailed per-joint status: connection, temperature, motor error flags, gains, and process ownership. All arrays have 12 elements.

Joint order: [0]HRR [1]HRP [2]HRK [3]HLR [4]HLP [5]HLK [6]FRR [7]FRP [8]FRK [9]FLR [10]FLP [11]FLK

Fields:

Field	Type	Unit	Description
`connected[]`	`bool[12]`	—	CAN connection status
`temperature[]`	`int8[12]`	°C	Control board temperature
`motor_temp[]`	`int8[12]`	°C	Motor winding temperature
`status_fet`	`bool[12]`	—	FET driver ON
`status_run`	`bool[12]`	—	Control loop running
`status_init`	`bool[12]`	—	Initialization complete
`status_jam`	`bool[12]`	—	JAM error (joint blocked)
`status_cur`	`bool[12]`	—	Over-current error
`status_big`	`bool[12]`	—	Large position error
`status_tmp`	`bool[12]`	—	Over-temperature error
`status_ps1`	`bool[12]`	—	Lower position limit reached
`status_ps2`	`bool[12]`	—	Upper position limit reached
`position_ref[]`	`float32[12]`	rad	Reference (target) position
`position_enc[]`	`float32[12]`	rad	Encoder (measured) position
`velocity[]`	`float32[12]`	rad/s	Joint angular velocity
`torque_ref[]`	`float32[12]`	Nm	Reference torque
`current[]`	`float32[12]`	A	Motor current
`kp[]`	`float32[12]`	Nm/rad	Position gain
`kd[]`	`float32[12]`	Nm·s/rad	Damping gain
`owner[]`	`int32[12]`	—	Process ID owning each joint

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

Power Control

`/rbq/powerControl/battery_status`

Field	Value
Type	`rbq_msgs/BatteryState`
Direction	Pub
Hz	10
Description	Battery voltage, current, charge percentage, temperatures, and status code.

Fields:

Field	Type	Description
`header`	`std_msgs/Header`	ROS header
`identifier`	`string`	Battery identifier string
`charge_percentage`	`float64`	State of charge `[0.0, 100.0]` %
`voltage`	`float64`	Pack voltage [V]
`current`	`float64`	Load current [A] (negative = discharging)
`temperatures[]`	`float64[]`	Temperature sensor readings [°C]
`status`	`uint8`	`0`=Unknown `1`=Missing `2`=Charging `3`=Discharging `4`=Booting

`/rbq/powerControl/setPortState`

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 setPortState)
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/powerControl/setPortState std_msgs/msg/Int8MultiArray "{data: [18, 1]}"

Vision — Camera Sensors

All camera topics are published by the robot (Pub). Each sensor provides raw images, compressed images, and calibration info.

Bottom Cameras — `sensor_bottom_{N}` (N = 0, 1, 2, 3)

Four downward-facing depth sensors mounted under the robot body.

Field	Value
Type	`sensor_msgs/Image` · `sensor_msgs/CompressedImage` · `sensor_msgs/CameraInfo`
Direction	Pub
Description	Depth and IR streams from each bottom sensor. Replace `{N}` with `0`–`3`.

Topic	Type	Description
`/rbq/vision/sensor_bottom_{N}/depth`	`sensor_msgs/Image`	Raw 16-bit depth image (mm, `16UC1`)
`/rbq/vision/sensor_bottom_{N}/depth/compressed`	`sensor_msgs/CompressedImage`	Compressed depth
`/rbq/vision/sensor_bottom_{N}/depth/camera_info`	`sensor_msgs/CameraInfo`	Depth intrinsics + distortion
`/rbq/vision/sensor_bottom_{N}/ir`	`sensor_msgs/Image`	Raw IR image
`/rbq/vision/sensor_bottom_{N}/ir/compressed`	`sensor_msgs/CompressedImage`	Compressed IR
`/rbq/vision/sensor_bottom_{N}/ir/camera_info`	`sensor_msgs/CameraInfo`	IR intrinsics + distortion

Front Camera — `sensor_front`

Field	Value
Type	`sensor_msgs/Image` · `sensor_msgs/CompressedImage` · `sensor_msgs/CameraInfo`
Direction	Pub
Description	RGB, IR, and Depth streams from the front-facing RGB-D sensor.

Topic	Type	Description
`/rbq/vision/sensor_front/rgb`	`sensor_msgs/Image`	Raw RGB image
`/rbq/vision/sensor_front/rgb/compressed`	`sensor_msgs/CompressedImage`	Compressed RGB
`/rbq/vision/sensor_front/rgb/camera_info`	`sensor_msgs/CameraInfo`	RGB intrinsics
`/rbq/vision/sensor_front/ir`	`sensor_msgs/Image`	Raw IR image
`/rbq/vision/sensor_front/ir/compressed`	`sensor_msgs/CompressedImage`	Compressed IR
`/rbq/vision/sensor_front/ir/camera_info`	`sensor_msgs/CameraInfo`	IR intrinsics
`/rbq/vision/sensor_front/depth`	`sensor_msgs/Image`	Raw 16-bit depth image
`/rbq/vision/sensor_front/depth/compressed`	`sensor_msgs/CompressedImage`	Compressed depth
`/rbq/vision/sensor_front/depth/camera_info`	`sensor_msgs/CameraInfo`	Depth intrinsics

Rear Camera — `sensor_rear`

Field	Value
Type	`sensor_msgs/Image` · `sensor_msgs/CompressedImage` · `sensor_msgs/CameraInfo`
Direction	Pub
Description	RGB, IR, and Depth streams from the rear-facing RGB-D sensor. Also used for ArUco marker detection during docking.

Topic	Type	Description
`/rbq/vision/sensor_rear/rgb`	`sensor_msgs/Image`	Raw RGB image
`/rbq/vision/sensor_rear/rgb/compressed`	`sensor_msgs/CompressedImage`	Compressed RGB
`/rbq/vision/sensor_rear/rgb/camera_info`	`sensor_msgs/CameraInfo`	RGB intrinsics
`/rbq/vision/sensor_rear/ir`	`sensor_msgs/Image`	Raw IR image
`/rbq/vision/sensor_rear/ir/compressed`	`sensor_msgs/CompressedImage`	Compressed IR
`/rbq/vision/sensor_rear/ir/camera_info`	`sensor_msgs/CameraInfo`	IR intrinsics
`/rbq/vision/sensor_rear/depth`	`sensor_msgs/Image`	Raw 16-bit depth image
`/rbq/vision/sensor_rear/depth/compressed`	`sensor_msgs/CompressedImage`	Compressed depth
`/rbq/vision/sensor_rear/depth/camera_info`	`sensor_msgs/CameraInfo`	Depth intrinsics

PTZ Camera

`/rbq/ptzCamera/setPanTiltZoom`

Field	Value
Type	`std_msgs/Float32MultiArray`
Direction	Sub
Description	PTZ camera control. `data: [pan, tilt, zoom]`. Pan and Tilt in degrees. Zoom is a scale factor (`1.0` = 1×).

`/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`

Field	Value
Type	`tf2_msgs/TFMessage`
Direction	Pub
Description	Static transforms from the URDF: fixed sensor mount offsets and rigid link relationships. Published once on startup.

`/joy`

Field	Value
Type	`sensor_msgs/Joy`
Direction	Sub
Description	Joystick input passthrough to the robot in Joystick mode. 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/status/robot_status

# Joint status (50 Hz)
ros2 topic echo --once /rbq/joint/joint_status

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

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

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

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

ROS 2 Topic Reference ​

Motion Commands ​

/rbq/motion/autoStart ​

/rbq/motion/canCheck ​

/rbq/motion/findHome ​

/rbq/motion/switchGait ​

/rbq/motion/switchControlMode ​

/rbq/motion/emergency ​

/rbq/motion/recoveryFlex ​

/rbq/motion/recoveryErrorClear ​

/rbq/motion/staticLock ​

/rbq/motion/staticReady ​

/rbq/motion/staticGround ​

/rbq/motion/docking ​

/rbq/motion/docking_mode ​

/rbq/motion/setBodyHeight ​

/rbq/motion/setFootHeight ​

/rbq/motion/setMaxSpeed ​

/rbq/motion/additional_payload_params ​

Gait State Reference ​

High-Level Control ​

/rbq/motion/cmd_highLevel ​

/rbq/motion/cmd_navigateTo ​

/rbq/stateEstimation/comEstimationCompensation ​

Robot Status ​

/rbq/status/robot_status ​

/rbq/status/comm_connected ​

State Estimation ​

/rbq/stateEstimation/odometry ​

/rbq/stateEstimation/robotVelocity ​

/rbq/stateEstimation/footStates ​

Sensor Feedback ​

/rbq/imu/IMU_state ​

/rbq/joint/joint_states ​

/rbq/joint/joint_status ​

Power Control ​

/rbq/powerControl/battery_status ​

/rbq/powerControl/setPortState ​

Vision — Camera Sensors ​

Bottom Cameras — sensor_bottom_{N} (N = 0, 1, 2, 3) ​

Front Camera — sensor_front ​

Rear Camera — sensor_rear ​

PTZ Camera ​

/rbq/ptzCamera/setPanTiltZoom ​

TF & Navigation ​

/tf ​

/tf_static ​

/joy ​

Topic Subscription Examples ​

ROS 2 Topic Reference

Motion Commands

`/rbq/motion/autoStart`

`/rbq/motion/canCheck`

`/rbq/motion/findHome`

`/rbq/motion/switchGait`

`/rbq/motion/switchControlMode`

`/rbq/motion/emergency`

`/rbq/motion/recoveryFlex`

`/rbq/motion/recoveryErrorClear`

`/rbq/motion/staticLock`

`/rbq/motion/staticReady`

`/rbq/motion/staticGround`

`/rbq/motion/docking`

`/rbq/motion/docking_mode`

`/rbq/motion/setBodyHeight`

`/rbq/motion/setFootHeight`

`/rbq/motion/setMaxSpeed`

`/rbq/motion/additional_payload_params`

Gait State Reference

High-Level Control

`/rbq/motion/cmd_highLevel`

`/rbq/motion/cmd_navigateTo`

`/rbq/stateEstimation/comEstimationCompensation`

Robot Status

`/rbq/status/robot_status`

`/rbq/status/comm_connected`

State Estimation

`/rbq/stateEstimation/odometry`

`/rbq/stateEstimation/robotVelocity`

`/rbq/stateEstimation/footStates`

Sensor Feedback

`/rbq/imu/IMU_state`

`/rbq/joint/joint_states`

`/rbq/joint/joint_status`

Power Control

`/rbq/powerControl/battery_status`

`/rbq/powerControl/setPortState`

Vision — Camera Sensors

Bottom Cameras — `sensor_bottom_{N}` (N = 0, 1, 2, 3)

Front Camera — `sensor_front`

Rear Camera — `sensor_rear`

PTZ Camera

`/rbq/ptzCamera/setPanTiltZoom`

TF & Navigation

`/tf`

`/tf_static`

`/joy`

Topic Subscription Examples