Topics

Publishers

Topic	Type	Always Active	Description
joint_states	sensor_msgs/JointState	✅	Consolidated state of all joints of the robot
joint_states/torso	sensor_msgs/JointState	✅	Torso joint positions, velocities, torques
joint_states/right_arm	sensor_msgs/JointState	✅	Right arm joint state
joint_states/left_arm	sensor_msgs/JointState	✅	Left arm joint state
joint_states/head	sensor_msgs/JointState	✅	Head joint state
robot_state	rby1_msgs/RobotState	✅	Control Manager state, brakes, EMO, CoM, stream, collision
battery_state	sensor_msgs/BatteryState	⚙️ publish_battery_state	Battery voltage, current, percentage
tool_flange/left	rby1_msgs/ToolFlangeState	⚙️ publish_tool_flange_state	Left flange: FT sensor, IMU, switch, voltage, digital I/O
tool_flange/right	rby1_msgs/ToolFlangeState	⚙️ publish_tool_flange_state	Right flange: FT sensor, IMU, switch, voltage, digital I/O
odom	nav_msgs/Odometry	✅	High-rate robot odometry and TF broadcast relative to node namespace

Subscribers

Topic	Type	Description
cmd_vel	geometry_msgs/Twist	Velocity command for driving base wheels (linear x, y and angular z)

[!IMPORTANT] Mobile Base Control (cmd_vel) streaming requirement: Since cmd_vel acts as a high-frequency publisher, you must enable persistent stream control before publishing base velocity commands.

• Call /stream_control with state: true before sending cmd_vel commands.

• Call /stream_control with state: false after finishing base control to return to regular position hold.

• Attempting to activate /stream_control when already active is idempotent; the service will safely log a warning and return success.