R1 Pro Software Introduction ROS 2 Humble

Environment Dependency

Hardware Dependency: R1 Pro Computing Unit
OS Dependency: Ubuntu 22.04 LTS
Middleware Dependency: ROS 2 Humble

Obtain SDK

Visit R1 Pro ROS 2 Software Version Changelog to obtian the latest SDK.

Start SDK

R1 Pro supports two ways to start the SDK: Separate Startup and One-Command Startup. For your safety, we highly recommend using the Separate Startup method to launch the SDK. Details of SDK file are listed below:

Interface	File Name	Path	Launch File
Arms Driver Interface Torso Driver Interface Chassis Driver Interface IMU Interface BMS Interface Remote Controller Interface	HDAS	/install/HDAS/share/HDAS/launch/	r1pro.py
Camera Interface	signal_camera_node	/install/signal_camera_node/share/signal_camera_node/launch/	signal_camera.py
LiDAR Interface	livox_ros_driver2	/install/livox_ros_driver2/share/livox_ros_driver2/launch_ROS2/	msg_MID360_launch.py

Seperate Start

The current Galaxea R1 Pro 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 ~{your_download_path}/install/setup.bash
ros2 launch <Package Name> <Launch File>
# Example
ros2 launch HDAS r1pro.py

One-Command Start

Note: Running the following command will start all drivers and motion control interfaces.

sudo apt-get install tmux tmuxp
cd ~{your_download_path}/install/share/startup_config/script
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/

Demo

Visit the page R1 Pro Demo Guide and get started to operate R1 Pro following the instructions.

Software Interface

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

R1Pro_structure

Driver Interface

The current Galaxea R1 Pro driver consists of several components, including actuator interface, sensor interface and external function interface.

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, Joint7_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, Joint7_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, Joint7_effort]
/hdas/feedback_arm_right	header	Standard header
	position	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, Joint7_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, Joint7_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, Joint7_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 (Servo Mode)	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position]
	v_des	[Joint1_velocity_max_limit, Joint2_velocity_max_limit, Joint3_velocity_max_limit, Joint4_velocity_max_limit, Joint5_velocity_max_limit, Joint6_velocity_max_limit, Joint7_velocity_max_limit]
	t_ff	[Joint1_effort_max_limit, Joint2_effort_max_limit, Joint3_effort_max_limit, Joint4_effort_max_limit, Joint5_effort_max_limit, Joint6_effort_max_limit, Joint7_effort_max_limit]
	mode	-
/motion_control/control_arm_left (Torque-Position-Mix Control Mode)	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, Joint7_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, Joint7_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp, Joint7_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd, Joint7_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, Joint7_effort]
	mode	-
/motion_control/control_arm_right (Servo Mode)	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, Joint7_position]
	v_des	[Joint1_velocity_max_limit, Joint2_velocity_max_limit, Joint3_velocity_max_limit, Joint4_velocity_max_limit, Joint5_velocity_max_limit, Joint6_velocity_max_limit, Joint7_velocity_max_limit]
	t_ff	[Joint1_effort_max_limit, Joint2_effort_max_limit, Joint3_effort_max_limit, Joint4_effort_max_limit, Joint5_effort_max_limit, Joint6_effort_max_limit, Joint7_effort_max_limit]
	mode	-
/motion_control/control_arm_right (Torque-Position-Mix Control Mode)	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, Joint7_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, Joint7_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp, Joint7_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd, Joint7_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, Joint7_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
/motion_control/position_control_gripper_left	data	desired_gripper_stroke, range (0 to 100) mm
/motion_control/position_control_gripper_right	header	Standard header
/motion_control/position_control_gripper_right	data	desired_gripper_stroke, range (0 to 100) mm

*Joint Motor Control Interface Description

/hdas/feedback_status_arm_left
/hdas/feedback_status_arm_right

The figure below illustrates the architecture of the Arm Torque-Position-Mix Control Mode:

R1Pro_arm_motor

The output torque formula of the motor is used to calculate the torque value T_ref given by the current loop for tracking, and the formula is as follows:

\(K_p(p_d - p_e) + K_d(v_d - v_e)+t_{ff} = T_{ref}\), where:

Kp,Kd are the proportional gains for position and velocity, respectively.
pd,vd are the desired position and velocity, respectively.t_ff is the feedforward torque.pe is the position feedback from the encoder, and ve is the motor speed obtained by differentiation.
The input items include:Kp,Kd,pd,vd,t_ff.
The feedback items pe and ve do not need to be manually entered.

Note:

Feedforward torque is a mandatory item. The position and velocity terms cannot compensate for large torque errors. Therefore, the feedforward torque should at least compensate for the gravitational torque affecting the robot arm.
Below are the recommended kp and kd values for the A2 arm motors. Please exercise caution when making adjustments.

R1_Pro_A2_left_kp = [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]

R1_Pro_A2_left_kd = [25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0]

R1_Pro_A2_right_kp = [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]

R1_Pro_A2_right_kd = [25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0]

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	Input	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]
	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

Below are detailed descriptions of each topic and its associated message types:

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

Below are detailed descriptions of each topic and its associated message types:

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
/hdas/lidar_chassis_left	fields	LiDAR data

IMU Interface

Below are detailed descriptions of each topic and its associated message types:

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

Below are detailed descriptions of each topic and its associated message types:

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

Below are detailed descriptions of each topic and its associated message types:

Topic Name	I/O	Description	Message Type
/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
/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 Pro torso and arms.
Arm Pose Control: The node controls arm movement to the target end-effector (ee) frame.
Gripper Control: The node controls end-effector movement to the target position.
Torso Speed Control: The node controls torso movement to the target floating base frame.
Chassis Control: The node controls the R1 Pro 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

Joint Control is a ROS package for controlling each joint of the R1 Pro torso and arms, with a total of 18 joints. It can be launched using a command.

source {your_download_path}/install/setup.bash
ros2 launch mobiman r1_pro_jointTrackerdemo.py

This launch file will start with the r1_pro_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
/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_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
/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
/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
/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_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.
/motion_target/target_joint_state_torso	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.
/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

Arm Pose Control

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 {your_download_path}/install/setup.bash
ros2 launch mobiman r1_pro_left_arm_relaxed_ik.py
ros2 launch mobiman r1_pro_right_arm_relaxed_ik.py

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 Pro 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_linkrelative 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/target_pose_arm_left	Input	Target pose of left arm	geometry_msgs::PoseStamped
/motion_target/target_pose_arm_right	Input	Target pose of right arm	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/target_pose_arm_left /motion_target/target_pose_arm_right	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

Gripper Control

Gripper Control is the node that controls the end-effector. It can be launched using the following command:

source {your_download_path}/install/setup.bash
ros2 launch mobiman r1_gripperController.py robot_type:=R1PRO

The launch file will start with R1_Gripper_Controller(Note: not R1_Pro_Gripper_Controller here). The interface is shown below.

Topic Name	I/O	Description	Message Type
/motion_target/target_position_gripper_left	Input	Target position of left gripper	sensor_msgs::JointState
/motion_target/target_position_gripper_right	Input	Target position of right gripper	sensor_msgs::JointState
/motion_control/control_gripper	Output	Motor control of gripper	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_target/target_position_gripper_left /motion_target/target_position_gripper_right	position	Refers to the target position of gripper in the range of [0, 100]: 0: fully closed 100: fully opened
/motion_control/control_gripper	-	Refer to the arm driver interface.

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 {your_download_path}/install/setup.bash
ros2 launch mobiman torso_control_example_launch.py
## 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

R1 Pro_torso_speed_control

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 (max. speed is 0.1 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 (max. speed is 0.1 m/s). A positive value suggests upward movement based on base_link, while a negative value indicates downward movement.
w_pitch represents the angular velocity in the y-direction of the torso frame relative to base_link (max. speed is 0.3rad/s). The direction conforms to the Right-Hand Coordinate System.
w_yaw represents the angular velocity in the y-direction of the torso frame relative to base_link (max. speed is 0.3rad/s). The direction conforms to the Right-Hand Coordinate System.

The interface is shown as follows.

Topic Name	I/O	Description	Message Type
/hdas/feedback_torso	Input	Feedback to the torso joint	sensor_msgs::JointState
/motion_target/target_speed_torso	Input	Target speed of the floating base frame	geometry_msgs::TwistStamped
/motion_control/control_torso	Output	Target position of each torso joint	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	-	Refer to HDAS msg
/motion_target/target_speed_torso	target_speed.v_x = msg.twist.linear.x	Linear velocity in the x-direction of the torso in Cartesian space. Range: [-0.2,0.2]m/s, -0.1≤x≤0.2
	target_speed.v_z =msg.twist.linear.z	Linear velocity in the z-direction of the torso in Cartesian space. Range: [-0.1,0.1]m/s, 0.3≤z≤0.7
	target_speed.w_pitch =msg.twist.angular.y	Augular velocity in the y-direction of the torso in Cartesian space. Range: [-0.3,0.3]m/s, -1.75≤z≤1.75
	target_speed.w_yaw =msg.twist.angular.z	Augular velocity in the y-direction of the torso in Cartesian space. Range: [-0.3,0.3]m/s, -1.75≤z≤1.75

Chassis Control

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

ros2 launch mobiman r1_pro_chassis_control_launch.py

This launch file will bring up two nodes: chassis_control_node and r1_pro_eepose_pub_node. The chassis_control_node is responsible for R1 Pro chassis speed control. The interface is shown below:

Topic Name	I/O	Description	Message Type
/hdas/feedback_chassis	Input	R1 chassis control subscribes to this topic and controls the chassis the target speed	sensor_msgs::JointState
/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
/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
/hdas/feedback_chassis	-	Refer to HDAS msg 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.
/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).

R1Pro_pose_est

The interface is shown below:

Topic Name	I/O	Description	Message Type
/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
/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

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