📄️ 8.1 Product Serial Number
8.1.1 Command Line Reading
📄️ 8.2 One-Click Startup
8.2.1 One-Click Startup Feature
📄️ 8.3 IMU
8.3.1 Get IMU Sensor Information Format 1 - Standard Format
📄️ 8.4 Joint Temperature Interface
Description: All joint temperature data is published via topic format, once per second;
📄️ 8.5 Head Joint
8.5.1 Status Interface
📄️ 8.6 Waist Joint
8.6.1 Status Interface
📄️ 8.7 Dual Arm Joints
8.7.1 Status Acquisition Interfaces
📄️ 8.8 Dual Leg Joints
8.8.1 Status Acquisition Interfaces
📄️ 8.9 Voice
8.9.1 ASR Speech Recognition
📄️ 8.10 Depth Camera
Start Orbbec Camera
📄️ 8.11 Hand Joints
8.11.1 Global Value Description
📄️ 8.12 6D Force
1. 6D Force Status Acquisition Interface
📄️ 8.13 Battery Status and Power Acquisition
1. Battery Status
📄️ 8.14 Remote Control Interface
1. Remote Control Event Data
📄️ 8.15 Software Version Information Acquisition
The complete version information file (including complete version information description files for x86, orin, firmware, etc.) is defined in the installation directory of the ontology software package, applicable to all Tienkung Walker series:
📄️ 8.16 Bag Recording Interface
You can directly use the launch file to start ros2 topic recording, which will be stored in the default path (/home/ubuntu/bags). Recording is split into 100M bags, and the maximum storage capacity of the recording directory is 2G. When the limit is exceeded, the earliest folders and bag files will be automatically deleted, applicable to all Tienkung Walker series.
📄️ 8.17 Radar
How to Replace Radar Head
📄️ 8.18 Traditional Method Control Interface
Please ensure that both the main body drive and traditional motion control are started. Toggle the H key on the handle to the right to switch states via the following ROS service, issue velocity commands via topic. Remote control buttons and joysticks will be invalid (only the C key 'freeze' is valid). Return H to the center position to restore remote control functionality.
📄️ 8.19 Reinforcement Learning Control Interface
Please ensure that both the main body drive and reinforcement learning motion control are started. Toggle the E key on the handle upward to switch states via the following ROS service, issue velocity commands via topic. Remote control buttons and joysticks will be invalid (only C is valid). Return E to the center position to restore remote control functionality.