Galaxea R1 Software Guide

Environment Dependency

1. Hardware Dependency: R1 Computing Unit
2. OS Dependency: Ubuntu 20.04 LTS
3. Middleware Dependency: ROS Noetic

Software Version Changelog

Visit the R1 Software Version Changelog and find the latest update.

First Move

Visit the page R1_Demo and get started to operate R1 following the instructions.

Software Interface

The current Galaxea R1 control diagram is shown below, consisting of five main parts: R1 Pose Feedback, R1 Joint Control, R1 Chassis Control, R1 Arm Pose Control, and R1 Torso Pose Control. Details will be provided in the following chapters. The entire package is called 'mobiman,' short for mobile manipulation.

Driver Interface

The current Galaxea R1 driver consists of several components, including actuator interface, sensor interface and external function interface. All the components can be launched by using the following command template.

source ~/work/galaxea/install/setup.bash
roslaunch <Package Name> <Launch File>
# Example
roslaunch HDAS r1.launch

Topic Name	Description	Message Type
Arms Driver Interface Torso Driver Interface Chassis Driver Interface IMU Interface BMS Interface Remote Controller Interface	HDAS	r1.launch
Camera Interface	signal_camera	signal_camera.launch
LiDAR Interface	livox_ros_driver2	msg_MID360.launch

Arms Driver Interface

This interface is used for the robot arm control and status feedback ROS package, which defines multiple topics for publishing and subscribing to the arm's status, control commands, and associated error codes. Below are detailed descriptions of each topic and its corresponding message types:

Topic Name	I/O	Description	Message Type
/hdas/feedback_arm_left	Output	Joint feedback of left arm	sensor_msgs::JointState
/hdas/feedback_arm_right	Output	Joint feedback of right arm	sensor_msgs::JointState
/hdas/feedback_gripper_left	Output	Gripper stroke of left gripper	sensor_msgs::JointState
/hdas/feedback_gripper_right	Output	Gripper stroke of right gripper	sensor_msgs::JointState
/hdas/feedback_status_arm_left	Output	Status of left arm	hdas_msg::feedback_status
/hdas/feedback_status_arm_right	Output	Status of right arm	hdas_msg::feedback_status
/hdas/feedback_status_gripper_left	Output	Status of left gripper	hdas_msg::feedback_status
/hdas/feedback_status_gripper_right	Output	Status of right gripper	hdas_msg::feedback_status
/motion_control/control_arm_left	Input	Motor control of left arm	hdas_msg::motor_control
/motion_control/control_arm_right	Input	Motor control of right arm	hdas_msg::motor_control
/motion_control/control_gripper_left	Input	Motor control of left gripper	hdas_msg::motor_control
/motion_control/control_gripper_right	Input	Motor control of right gripper	hdas_msg::motor_control
/motion_control/position_control_gripper_left	Input	Position control of left gripper	std_msgs::Float32
/motion_control/position_control_gripper_right	Input	Position control of right gripper	std_msgs::Float32

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/feedback_arm_left	header	Standard header
	position	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort]
/hdas/feedback_arm_right	header	Standard header
	position	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort]
/hdas/feedback_gripper_left	header	Standard header
	position	[gripper_stroke]
	velocity	Not used
	effort	Not used
/hdas/feedback_gripper_right	header	Standard header
	position	[gripper_stroke]
	velocity	Not used
	effort	Not used
/hdas/feedback_status_arm_left	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/hdas/feedback_status_arm_right	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/hdas/feedback_status_gripper_left	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/hdas/feedback_status_gripper_right	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/motion_control/control_arm_left	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort]
	mode	-
/motion_control/control_arm_right	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort]
	mode	-
/motion_control/control_gripper_left	header	Standard header
	name	-
	p_des	[gripper_position]
	v_des	[gripper_velocity]
	kp	[gripper_kp]
	kd	[gripper_kd]
	t_ff	[gripper_effort]
	mode	-
/motion_control/control_gripper_right	header	Standard header
	name	-
	p_des	[gripper_position]
	v_des	[gripper_velocity]
	kp	[gripper_kp]
	kd	[gripper_kd]
	t_ff	[gripper_effort]
	mode	-
/motion_control/position_control_gripper_left	header	Standard header
	data	desired_gripper_stroke, range (0 to 100) mm
/motion_control/position_control_gripper_right	header	Standard header
	data	desired_gripper_stroke, range (0 to 100) mm

Torso Driver Interface

This interface is used for the torso control and status feedback ROS package, which defines multiple topics for publishing and subscribing to the status of the torso motors and control commands. Below are detailed descriptions of each topic and its corresponding message types:

Topic Name	I/O	Description	Message Type
/hdas/feedback_torso	Output	Joint feedback of torso	sensor_msgs/JointState
/hdas/feedback_status_torso	Output	Torso motor status feedback	hdas_msg::feedback_status
/motion_control/control_torso	Output	Motor control of torso	hdas_msg::motor_control

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/feedback_torso	header	Standard header
	position	[joint1_position, joint2_position, joint3_position, joint4_position]
	velocity	[joint1_velocity, joint2_velocity, joint3_velocity, joint4_velocity]
	effort	Not used
/hdas/feedback_status_torso	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/motion_control/control_torso	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort]
	mode	-

Chassis Driver Interface

This interface is used for the chassis status feedback ROS package, which defines multiple topics to report the status of the chassis' motors. Below are detailed descriptions of each topic and its associated message types:

Topic Name	I/O	Description	Message Type
/hdas/feedback_chassis	Output	Feedback of chassis	sensor_msgs::JointState
/hdas/feedback_status_chassis	Output	Status of chassis	hdas_msg::feedback_status
/motion_control/control_chassis	Input	Motor control of chassis	hdas_msg::motor_control

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/feedback_chassis	header	Standard header
	position	[angle_front_left, angle_front_right, angle_rear]
	velocity	[linear_velocity_front_left, linear_velocity_front_right, linear_velocity_rear 0.0, 0.0, 0.0]
	effort	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
/hdas/feedback_status_chassis	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/motion_control/control_chassis	header	Standard header
	name	-
	p_des	[angle_front_left, angle_front_right, angle_rear]
	v_des	[linear_velocity_front_left, linear_velocity_front_right, linear_velocity_rear]
	kp	-
	kd	-
	t_ff	-
	mode	-

Camera Interface

Topic Name	I/O	Description	Message Type
/hdas/camera_chassis_front_left/rgb/compressed	Output	Compressed Image from front_left chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_front_right/rgb/compressed	Output	Compressed Image from front_right chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_left/rgb/compressed	Output	Compressed Image from left chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_right/rgb/compressed	Output	Compressed Image from right chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_rear/rgb/compressed	Output	Compressed Image from rear chassis camera	sensor_msgs::CompressedImage
/hdas/camera_wrist_left/color/image_raw/compressed	Output	Compressed Image from left wrist camera	sensor_msgs::CompressedImage
/hdas/camera_wrist_right/color/image_raw/compressed	Output	Compressed Image from right wrist camera	sensor_msgs::CompressedImage
/hdas/camera_head/left_raw/image_raw_color/compressed	Output	Compressed Image from head camera	sensor_msgs::CompressedImage
/hdas/camera_wrist_left/aligned_depth_to_color/image_raw	Output	Depth Image from left wrist camera	sensor_msgs::Image
/hdas/camera_wrist_right/aligned_depth_to_color/image_raw	Output	Depth Image from right wrist camera	sensor_msgs::Image
/hdas/camera_head/depth/depth_registered	Output	Depth Image from head camera	sensor_msgs::Image

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/camera_chassis_front_left/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_front_right/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_left/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_right/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_rear/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_wrist_left/color/image_raw/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_wrist_right/color/image_raw/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_head/left_raw/image_raw_color/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_wrist_left/aligned_depth_to_color/image_raw	header	Standard header
	height	Depend on settings
	width	Depend on settings
	encoding	16UC1
	is_bigendian	0
	step	Depend on settings
	data	Image data
/hdas/camera_wrist_right/aligned_depth_to_color/image_raw	header	Standard header
	height	Depend on settings
	width	Depend on settings
	encoding	16UC1
	is_bigendian	0
	step	Depend on settings
	data	Image data
/hdas/camera_head/depth/depth_registered	header	Standard header
	height	Depend on settings
	width	Depend on settings
	encoding	32FC1
	is_bigendian	0
	step	Depend on settings
	data	Image data

LiDAR Interface

Topic Name	I/O	Description	Message Type
/hdas/lidar_chassis_left	Output	Lidar pointcloud	sensor_msgs::PointCloud2

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/lidar_chassis_left	header	Standard header
	fields	LiDAR data

IMU Interface

Topic Name	I/O	Description	Message Type
/hdas/imu_chassis	Output	Imu information	sensor_msgs::Imu
/hdas/imu_torso	Output	Imu information	sensor_msgs::Imu

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/imu_chassis	header	Standard header
	orientation.x	quaternion x
	orientation.y	quaternion y
	orientation.z	quaternion z
	orientation.w	quaternion w
	angular_velocity.x	Groyscope angular velocity x
	angular_velocity.y	Groyscope angular velocity y
	angular_velocity.z	Groyscope angular velocity z
	linear_acceleration.x	Linear acceleration x
	linear_acceleration.y	Linear acceleration y
	linear_acceleration.z	Linear acceleration z
/hdas/imu_torso	header	Standard header
	orientation.x	quaternion x
	orientation.y	quaternion y
	orientation.z	quaternion z
	orientation.w	quaternion w
	angular_velocity.x	Groyscope angular velocity x
	angular_velocity.y	Groyscope angular velocity y
	angular_velocity.z	Groyscope angular velocity z
	linear_acceleration.x	Linear acceleration x
	linear_acceleration.y	Linear acceleration y
	linear_acceleration.z	Linear acceleration z

BMS Interface

Topic Name	I/O	Description	Message Type
/hdas/bms	Output	Battery BMS information	hdas_msg::bms

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/bms	header	Standard header
	voltage	Voltage in V
	current	Current in A
	capital	Capital in %

Remote Controller Interface

Topic Name	I/O	Description	Message Type
/hdas/controller	Output	Signal from remote controller	hdas_msg::controller_signal_stamped

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/hdas/controller	header	Standard header
	data.left_x_axis	X axis of left joystick
	data.left_y_axis	Y axis of left joystick
	data.right_x_axis	X axis of right joystick
	data.right_y_axis	Y axis of right joystick
	mode	2: Chassis control via controller 5: ECU takes over

Motion Control Interface

• Joint Control: The node controls each joint of the R1 torso and arms.
• Arm Pose Control: The node controls arm movement to the target end-effector (ee) frame.
• Torso Speed Control: The node controls torso movement to the target floating base frame.
• Chassis Control: The node controls the R1 chassis using vector control, allowing you to send speed commands in three directions simultaneously: x, y, and w.
• Pose Estimation: The node receives joint angle feedback from HDAS and calculates the feedback corresponding to three coordinate systems.

Joint Control

R1 Joint Control is a ROS package for controlling each joint of the R1 torso and arms, with a total of 16 joints. It can be launched using a command.

source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_jointTrackerdemo.launch
## For R1 Lite 
##roslaunch mobiman pi_jointTrackerdemo.launch

This launch file will start with the r1_jointTracker_demo_node, which is the main node responsible for controlling each joint.

The interface is shown below:

Topic Name	I/O	Description	Message Type
/motion_target/target_joint_state_arm_left	Input	Target position of each left arm joint	sensor_msgs::JointState
/motion_target/target_joint_state_arm_right	Input	Target position of each right arm joint	sensor_msgs::JointState
/motion_target/target_joint_state_torso	Input	Target position of each torso joint	sensor_msgs::JointState
/hdas/feedback_arm_left	Input	Feedback of left arm motor	sensor_msgs::JointState
/hdas/feedback_arm_right	Input	Feedback of right arm motor	sensor_msgs::JointState
/hdas/feedback_torso	Input	Feedback of torso motor	sensor_msgs::JointState
/motion_control/control_arm_left	Input	Control of left arm motor	hdas_msg::motor_control
/motion_control/control_arm_right	Input	Control of right arm motor	hdas_msg::motor_control
/motion_control/control_torso	Input	Control of torso motor	hdas_msg::motor_control

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right	position	This is a vector of six elements. 6 joint target positions for each joint.
	velocity	This is a vector of six elements. Standing for max velocity of each joint during movement. The max speed is below, {3, 3, 3, 5, 5, 5}. The acc & jerk limit is set to 1.5* speed limit.
/motion_target/target_joint_state_torso	position	This is a vector of four elements. 4 joint target positions for each joint.
	velocity	This is a vector of four elements. Standing for four velocity of each joint during movement. The max speed is below, {1.5, 1.5, 1.5, 1.5}. The acc & jerk limit is set to 1.5* speed limit.
/hdas/feedback_arm_left	-	Refer to HDAS msg Description
/hdas/feedback_arm_right	-	Refer to HDAS msg Description
/hdas/feedback_torso	-	Refer to HDAS msg Description
/motion_control/control_arm_left	-	Refer to HDAS msg Description
/motion_control/control_arm_right	-	Refer to HDAS msg Description
/motion_control/control_torso	-	Refer to HDAS msg Description

Extra Features

• High tracking mode provided for R1.

  roslaunch mobiman r1_jointTrackerdemo_fast.launch 
  

  Note: In high tracking mode, joint level acceleration needs to be planed. If this interface is called to follow a big angle jump, it will trigger motors' protection. The recommended joint accleration and speed are shown below:

Joint	Speed Limit	Acceleration Limit
Arm Joint	[3,3,3,5,5,5] rad/s	[5,5,5,5,5,5] rad/s²
Torso Joint	[1,1,1,1] rad/s	[1.5, 1.5, 1.5, 1.5] rad/s²

• Disable Torso Control is also provided, which are

  roslaunch mobiman r1_jointTrackerdemo_disable_torso.launch;
  

  roslaunch mobiman r1_jointTrackerdemo_fast_disable_torso.launch
  

Note: This should be used together with torso speed control interface. The torso speed control interface will call motor control interface directly, so torso joint control should be disabled.

Arm Pose Control

R1 Arm Pose Control is a ROS package for controlling arm movement to the target end-effector (ee) frame. It can be launched using the following command:

source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_left_arm_mpc.launch  # MPC control of the left arm end-effector.
roslaunch mobiman r1_right_arm_mpc.launch  # MPC control of the right arm end-effector.

Note：

• When the dual-arm pose controller is activated, both the left and right arms will automatically adjust to the position shown in the figure below. Please ensure that the R1 is placed with both arms naturally hanging down to avoid initialization failure due to excessive movement angles.
• The current end-effector pose control's relative pose is the transformation of the gripper_link relative to torso_link4 in the URDF. For the left arm, this refers to the relative relationship between the left_gripper_link coordinate frame and torso_link4 coordinate frame, including offsets in x, y, and z, as shown in the right figure below, transforming as well as the rotational offsets corresponding to the orientation.

The interface is shown below.

Topic Name	I/O	Description	Message Type
/motion_target/pose_ee_arm_left	Input	Target pose of left arm end-effector frame	Geometry_msgs::PoseStamped
/motion_target/pose_ee_arm_right	Input	Target pose of right arm end-effector frame	Geometry_msgs::PoseStamped
/hdas/feedback_arm_left	Input	Feedback of arm joint	Sensor_msgs::JointState
/hdas/feedback_arm_right	Input	Feedback of arm joint	Sensor_msgs::JointState
/motion_control/control_arm_left	Output	Control of left arm motor	hdas_msg::motor_control
/motion_control/control_arm_right	Output	Control of right arm motor	hdas_msg::motor_control

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/motion_target/pose_ee_arm_left	header	Standard Header
	pose.position.x	Shift in x-direction
	pose.position.y	Shift in y-direction
	pose.position.z	Shift in z-direction
	pose.orientation.x	Orientation quaternion
	pose.orientation.y	Orientation quaternion
	pose.orientation.z	Orientation quaternion
	pose.orientation.w	Orientation quaternion
/hdas/feedback_arm_left /hdas/feedback_arm_right	-	Refer to HDAS msg

Torso Speed Control

Torso Speed Control is a ROS package for controlling torso movement to the target floating base frame. It can be launched using the following command:

source ~/work/galaxea/install/setup.bash
roslaunch mobiman torso_speed_control_hard.launch
## Note, this command cannot be executed simultaneously with joint_tracker.
## If you want to use joint tracker simultaneously, use joint_tracker_disable_torso instead. 
## Detail information can be found at joint Control Page

This node represents the velocity control of torso_link3 relative to base_link, with its direction aligned with the base_link frame.

• v_x represents the velocity in the x-direction of the torso frame relative to base_link (maximum speed is 0.2 m/s). A positive value indicates forward movement based on base_link, while a negative value indicates backward movement.
• v_z represents the velocity in the z-direction of the torso frame relative to base_link (maximum speed is 0.2 m/s). A positive value suggests upward movement based on base_link, while a negative value indicates downward movement.

The interface is shown as follows.

Topic Name	I/O	Description	Message Type
/motion_target/target_joint_state_torso	Input	Target Joint position of each joint of torso	Sensor_msgs::JointState
/motion_target/target_speed_torso	Input	Target speed of floating base frame	Geometry_msgs::Twist::ConstPtr
/hdas/feedback_torso	Input	Feedback of torso joint	Sensor_msgs::JointState
/motion_control/control_torso	Output	Control of torso motor	hdas_msg::motor_control

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/motion_target/target_speed_torso	target_speed.v_x = msg->linear.x;	Linear velocity in the x direction of the torso in Cartesian space
	target_speed.v_z = msg->linear.z;	Linear velocity in the z direction of the torso in Cartesian space
/hdas/feedback_torso	-	Refer to HDAS msg

Chassis Control

R1 Chassis Control is the node that controls the R1 chassis using vector control, allowing you to send speed commands in three directions simultaneously: x, y, and w. It can be launched using a command.

roslaunch mobiman r1_chassis_control.launch

This launch file will bring up two nodes: chassis_control_node and r1_control_manager. The chassis_control_node is responsible for R1 chassis speed control.

The interface is shown below:

Topic Name	I/O	Description	Message Type
/motion_target/target_speed_chassis	Input	Issue the target speed of chassis, consisting of three directions, x, y and w	geometry_msgs::Twist
/motion_target/chassis_acc_limit	Input	Issuing the chassis control acceleration limit, the max value for x, y, w is 2.5, 1.0, 1.0.	geometry_msgs::Twist
/motion_target/brake_mode	Input	Issuing whether the chassis is entering brake mode. If in brake mode, when speed is 0, the chassis will lock itself by turning the wheel to a certain degree.	std_msgs::Bool
/hdas/feedback_chassis	Input	R1 chassis control subscribes to this topic and controls the chassis the target speed	sensor_msgs::JointState
/motion_control/control_chassis	Output	R1 chassis control publishes this topic to control the motor	hdas_msg::motor_control

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/motion_target/target_speed_chassis	header	Standard ROS header
	linear	control of linear speed
	.x	linear_speed of x, range (-1.5 to 1.5) m/s
	.y	linear_speed of y, range (-1.5 to 1.5) m/s
	angular	control of yaw rate
	.z	control of angular speed, range (-3 to 3) rad/s
/motion_target/chassis_acc_limit	header	Standard ROS header
	linear	Acc limit of linear speed
	.x	Acc limit of x, range (-2.5 to 2.5) m/s²
	.y	Acc limit of y, range (-1.0 to 1.0) m/s²
	angular	control of yaw rate
	.z	Acc limit of angular speed, range (-3 to 3) rad/s²
/motion_target/brake_mode	data	Bool, True for entering brake mode; False for quitting brake mode.
/hdas/feedback_chassis	-	Refer to HDAS msg Description
/motion_control/control_chassis	-	Refer to HDAS msg Description

Pose Estimation

In the chassis control launch file, a node called eepose_pub_node will also be launched. This node receives joint angle feedback from HDAS and calculates the feedback corresponding to three coordinate systems. The eepose_pub_node defines three coordinate frames: the Base Link Frame (left), the Floating Base Frame (middle), and the End-Effector Pose Frame (right).

The interface is shown below:

Topic Name	I/O	Description	Message Type
/motion_control/pose_ee_arm_left	Output	Transform from floating base to left end-effector pose	Geometry_msgs::PoseStamped
/motion_control/pose_ee_arm_right	Output	Transform from floating base to right end-effector pose	Geometry_msgs::PoseStamped
/motion_control/pose_floating_base	Output	Transform from base-link to floating base	Geometry_msgs::PoseStamped
/hdas/feedback_arm_right	Input	Feedback of left arm motor	Sensor_msgs::JointState
/hdas/feedback_arm_left	Input	Feedback of left arm motor	Sensor_msgs::JointState
/hdas/feedback_torso	Input	Feedback of torso motor	Sensor_msgs::JointState

The specific fields and their detailed descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/motion_control/pose_ee_arm_right /motion_control/pose_ee_arm_left /motion_control/pose_floating_base	position	This is the translation information in X, Y, Z position
	pose.position.x	Shift in the X direction
	pose.position.y	Shift in the Y direction
	pose.position.z	Shift in the Z direction
	orientation	This is orientation information
	pose.orientation.x	Orientation quaternion
	pose.orientation.y	Orientation quaternion
	pose.orientation.z	Orientation quaternion
	pose.orientation.w	Orientation quaternion