Service Interface Reference

Available service interface definitions.

planning/set_waypoints

Sets the waypoint list.

Request:

Field	Type	Description
waypoints	Waypoint[]	Waypoint array
repetition	uint8	Repeat count (0=infinite)
current_index	uint8	Starting index

Response:

Field	Type	Description
success	bool	Success flag
message	string	Result message

Possible Response Messages:

• "set waypoint success" - Success

• "waypoint list is empty" - Empty waypoint list

• "service timeout" - No service response

planning/get_waypoints

Queries current mission status.

Request: (empty)

Response:

Field	Type	Description
success	bool	Success flag
message	string	Result message
waypoints	Waypoint[]	Current waypoint list
repetition	uint8	Remaining laps
current_index	uint8	Current target index

planning/append_waypoint

Appends a waypoint to the queue.

Request:

Field	Type	Description
waypoint	Waypoint	Waypoint to append

Response:

Field	Type	Description
success	bool	Success flag
message	string	Result message

set_map (SetLaserMap)

Loads PCD map and initializes localization.

Request:

Field	Type	Description
name	string	Map frame name
pc	PointCloud2	Point cloud data
initial_pose	Pose	Initial robot pose

Response:

Field	Type	Description
success	bool	Success flag
message	string	Result message

Possible Response Messages:

• "Map saved." - Success

• "service timeout" - Fast-LIO plugin not loaded

Waypoint Message

string frame      # Coordinate frame: "map_name", "gps", "odom"
float64 x         # X coordinate (GPS: latitude)
float64 y         # Y coordinate (GPS: longitude)
float64 z         # Z coordinate (GPS: altitude)
bool use_z        # Whether to check Z coordinate

set_listen (Joy Control)

Enables/disables manual joystick control.

Request:

Field	Type	Description
data	string	Control command string

Request data format:

• Enable: "topic_name<&>client_id" (e.g., "joy<&>my_app")

• Disable: "topic_name<&><CLOSE>" (e.g., "joy<&><CLOSE>")

Response:

Field	Type	Description
success	bool	Success flag
message	string	Result message

robot_state (Topic)

Topic that publishes robot state information.

Topic name: robot_state

Message fields:

Field	Type	Description
actuator_states	ActuatorState[]	Actuator (motor) status array
base_pos	double[3]	Base position [x, y, z]
base_quat	double[4]	Base quaternion [x, y, z, w]
base_lin_vel	double[3]	Linear velocity [vx, vy, vz]
base_ang_vel	double[3]	Angular velocity [wx, wy, wz]
voltage	double	Current battery voltage (V)
current	double	Current (A)
max_voltage	double	Maximum voltage
min_voltage	double	Minimum voltage
body_temperature	double	Body temperature (°C)
state	int32	Locomotion state (0-9)
joy_listen_type	int32	Joy source type (0=JOY, 1=VEL_CMD, 2=NONE)

ActuatorState message:

Field	Type	Description
name	string	Motor name (e.g., “FR_hip”)
position	double	Joint position (rad)
velocity	double	Joint velocity (rad/s)
effort	double	Joint torque (Nm)
status	uint16	Status code (0 = normal)
temperature	double	Motor temperature (°C)

Locomotion State values:

Value	State
0	COMM_DISABLED (Communication disabled)
1	COMM_ENABLED (Communication enabled)
2	MOTOR_READY (Motor ready)
3	MOTOR_COMMUTATION (Motor commutation in progress)
4	MOTOR_ENABLED (Motor enabled)
5	IN_TEST_MODE (Test mode)
6	STANDING_MODE (Standing)
7	IN_CONTROL (In control/walking)
8	SITDOWN_MODE (Sitting)
9	MOTOR_DISABLED (Motor disabled)