Version: V2.0.5.1

8.14 Remote Controller Interface

1. Remote Controller Event Data

Description: Obtain raw data from the remote controller. Applicable to all Walker Tienkung models.
Communication type: topic
Topic name: /sbus_data/event
Message type: bodyctrl_msgs::msg::SbusData

Message format:

int32 KEY_NONE = 0
int32 KEY_A_UP = 1          # A key release event
int32 KEY_A_DOWN = 2        # A key press event
int32 KEY_B_UP = 3          # B key release event
int32 KEY_B_DOWN = 4        # B key press event
int32 KEY_C_UP = 5          # C key release event
int32 KEY_C_DOWN = 6        # C key press event
int32 KEY_D_UP = 7          # D key release event
int32 KEY_D_DOWN = 8        # D key press event
int32 KEY_E_UP = 9          # E key up‑switch event
int32 KEY_E_MID = 10        # E key center‑switch event
int32 KEY_E_DOWN = 11       # E key down‑switch event
int32 KEY_F_UP = 12         # F key up‑switch event
int32 KEY_F_MID = 13        # F key center‑switch event
int32 KEY_F_DOWN = 14       # F key down‑switch event
int32 KEY_G_LEFT = 15       # G key left‑switch event
int32 KEY_G_MID = 16        # G key center‑switch event
int32 KEY_G_RIGHT = 17      # G key right‑switch event
int32 KEY_H_LEFT = 18       # H key left‑switch event
int32 KEY_H_MID = 19        # H key center‑switch event
int32 KEY_H_RIGHT = 20      # H key right‑switch event

std_msgs/Header header
int32 key_event_new        # New key event value
int32 key_event_old        # Previous key event value
                          # For example, when the G key moves from right to center:
                          # key_event_old = KEY_G_RIGHT, key_event_new = KEY_G_MID

int8 button_a              # A key value; -1: released, 1: pressed
int8 button_b              # B key value; -1: released, 1: pressed
int8 button_c              # C key value; -1: released, 1: pressed
int8 button_d              # D key value; -1: released, 1: pressed
int8 button_e              # E key value; <-0.5: up, -0.5~0.5: center, >0.5: down
int8 button_f              # F key value; <-0.5: up, -0.5~0.5: center, >0.5: down
int8 button_g              # G key value; <-0.5: left, -0.5~0.5: center, >0.5: right
int8 button_h              # H key value; <-0.5: right, -0.5~0.5: center, >0.5: left

float32 x1                 # Left stick X‑axis (left/right), range -1.0~1.0
float32 y1                 # Left stick Y‑axis (up/down), range -1.0~1.0
float32 x2                 # Right stick X‑axis (left/right), range -1.0~1.0
float32 y2                 # Right stick Y‑axis (up/down), range -1.0~1.0

Note: from bodyctrl_msgs.msg import SbusData imports a custom remote control message definition. To ensure this message definition is found, you need to source the environment variables before running the code:

x86: source /home/ubuntu/ros2ws/install/setup.bash
orin: source /home/nvidia/lyre_ros2/install/setup.bash

Code example：

import rclpy
from rclpy.node import Node
from bodyctrl_msgs.msg import SbusData
class GrabMonitor(Node):
    def __init__(self):
        super().__init__('sbus_event_listener')
        self.subscription = self.create_subscription(
            SbusData, '/sbus_data/event', self.listener_callback, 10
        )
        self.subscription
        self.key_event_map = {
            0: "None", 1: "A key released", 2: "A key pressed", 3: "B key released",
            4: "B key pressed", 5: "C key released", 6: "C key pressed", 7: "D key released",
            8: "D key pressed", 9: "E key up", 10: "E key return to center", 
            11: "E key down", 12: "F key up", 13: "F key return to center", 
            14: "F key down", 15: "G key left", 16: "G key return to center", 
            17: "G key right", 18: "H key left", 19: "H key return to center",
            20: "H key right"
        }

    def listener_callback(self, msg: SbusData):
        print("🎮 [SBUS Event]")
        print(f"  🆕 Current Event: {self.key_event_map.get(msg.key_event_new, f'Unknow({msg.key_event_new})')}")
        print(f"  🕒 Prev Event: {self.key_event_map.get(msg.key_event_old, f'Unknow({msg.key_event_old})')}")
        def key_state(val):
            return '✅ Pressed' if val == 1 else '❌ Released'

        def three_state(val, labels):
            if val < -0.5:
                return labels[0]
            elif val > 0.5:
                return labels[2]
            else:
                return labels[1]

        print("\n🔘 按键状态：")
        print(f"  A: {key_state(msg.button_a)}")
        print(f"  B: {key_state(msg.button_b)}")
        print(f"  C: {key_state(msg.button_c)}")
        print(f"  D: {key_state(msg.button_d)}")
        print(f"  E: {three_state(msg.button_e, ['⬆ Up', '⏺ Center', '⬇ Down'])}")
        print(f"  F: {three_state(msg.button_f, ['⬆ Up', '⏺ Center', '⬇ Down'])}")
        print(f"  G: {three_state(msg.button_g, ['⬅ Left', '⏺ Center', '➡ Right'])}")
        print(f"  H: {three_state(msg.button_h, ['➡ Right', '⏺ Center', '⬅ Left'])}")

        print("\n🕹 Joystick Status (Range -1.0 ~ 1.0)：")
        print(f"  Left Joystick: X={msg.x1:.2f}, Y={msg.y1:.2f}")
        print(f"  Right Joystick: X={msg.x2:.2f}, Y={msg.y2:.2f}")
        print("-" * 50)


def main(args=None):
    rclpy.init(args=args)
    node = GrabMonitor()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        print("🛑 exited")
    finally:
        node.destroy_node()
        try:
            rclpy.shutdown()
        except rclpy._rclpy_pybind11.RCLError as e:
            if "rcl_shutdown already called" in str(e):
                pass
            else:
                raise e

if __name__ == '__main__':
    main()

1. Remote Controller Event Data​

2. Subscribe to remote control topic​

1. Remote Controller Event Data

2. Subscribe to remote control topic