8.4 Joint Temperature Interface

Description: All joint temperature data is published via topic format, once per second;

• Data definition location: bodyctrl_msgs::msg::MotorStatus1

• Data format:

  std_msgs/Header header 
  MotorStatus1[] status
  
  MotorStatus1 definition:
  uint16 name # MotorName 
  float32 motortemperature
  float32 mostemperature

1. Get Head Joint Temperature Information (Applicable to Walker Tienkung·Embodied Intelligence)

Topic name: /head/motor_status

ros2 topic echo /head/motor_status

2. Get Dual Arm Joint Temperature Information (Applicable to all Walker Tienkung series)

Topic name: /arm/motor_status

ros2 topic echo /arm/motor_status # Topic exists for Voice & Vision

3. Get Leg Joint Temperature Information (Applicable to all Walker Tienkung series)

Topic name: /leg/motor_status

ros2 topic echo /leg/motor_status # Topic exists for Voice & Vision