ROS2/DDS Interface
Overview
Section titled “Overview”The DR02 provides ROS2-compatible topic and service interfaces through the DrDDS middleware, suitable for complex algorithm development and multi-node collaboration.
Note: Before using ROS2 tools to receive topics, check frequencies, etc., you need to source the environment variables with
source /opt/robot/scripts/setup_ros2.sh.
Sensor Driver Topics
Section titled “Sensor Driver Topics”The following topics publish messages immediately after boot. Developers can subscribe to these topics to obtain sensor data.
| Topic Name | Description | Message Type | Frequency |
|---|---|---|---|
| /IMU_DATA_BODY | Body IMU data topic (generic format) | sensor_msgs/msg/Imu | 200Hz |
| /IMU_DATA_LEG | Leg IMU data topic (generic format) | sensor_msgs/msg/Imu | 200Hz |
Motion Control Topics
Section titled “Motion Control Topics”Motion State Transition
Section titled “Motion State Transition”| Topic Name | Description | Message Type |
|---|---|---|
| /MOTION_STATE | Motion state transition command | drdds/msg/MotionState |
Motion Gait Switching
Section titled “Motion Gait Switching”| Topic Name | Description | Message Type |
|---|---|---|
| /GAIT | Motion gait switching command | drdds/msg/Gait |
Velocity Topics
Section titled “Velocity Topics”Gamepad Joystick Velocity Command
Section titled “Gamepad Joystick Velocity Command”| Topic Name | Description | Message Type |
|---|---|---|
| /STEER | Gamepad joystick (normalized) velocity command | drdds/msg/Steer |
[Tip] For detailed parameter descriptions and usage of these topics, refer to the Motion Control State Interface documentation.