Version: V2.0.5.1

8.18 Reinforcement Learning Control Interfaces

warning

Before using these interfaces, ensure that both the body driver and the reinforcement‑learning motion‑control modules are running.
When the E key on the remote controller is pushed up, the robot state can be switched via the ROS Services below, and velocity commands are sent via Topics. In this state, remote controller buttons and sticks are disabled (only the C key remains effective). When the E key is returned to the middle position, remote controller control is restored.

8.18.1 Motion Mode Switching

Interface name: /hric/motion/set_motion_mode
Type: ROS Service
Description: Request to switch motion mode
Provider module: Motion control
Client module: Robot management

Message type: hric_msgs/SetMotionMode.srv

Service msg	Field name	Type	Required	Description
Request	`walk_mode_request`	uint8	Yes	Requested motion mode: `1: stop`, `2: zero`, `3: stand`, `4: walk`, `5: run`
Request	`is_need_swing_arm`	bool	Yes	Whether arm swinging is required during walking `true`: Required (i.e., full-body control mode; the current locomotion controller will control both arms, and subsequent actions can still be triggered by calling `/hric/motion/set_motion_number` service.) `false`: Not required (i.e., upper-body / partial-body control mode; the current locomotion controller does not control the arms, If you immediately call `/hric/motion/set_motion_number` service, the corresponding action cannot be executed, because the current locomotion controller has already released control of the arms.)
Response	`sucess`	bool	Yes	Whether the Service call succeeded
Response	`error_code`	uint32	Yes	Error code: `NONE = 0`, `UNKNOWN = 400`

Example:

cd ros2ws/
source install/setup.bash

# Stiff stop:
ros2 service call /hric/motion/set_motion_mode hric_msgs/srv/SetMotionMode "{walk_mode_request: 1, is_need_swing_arm: false}"

# Zero pose:
ros2 service call /hric/motion/set_motion_mode hric_msgs/srv/SetMotionMode "{walk_mode_request: 2, is_need_swing_arm: false}"

# Stand:
ros2 service call /hric/motion/set_motion_mode hric_msgs/srv/SetMotionMode "{walk_mode_request: 3, is_need_swing_arm: false}"

# In‑place walking (from zero pose after placing the robot on the ground; for safety, DO NOT switch directly from zero to walk—go via stand first):
ros2 service call /hric/motion/set_motion_mode hric_msgs/srv/SetMotionMode "{walk_mode_request: 4, is_need_swing_arm: false}"

# In‑place running:
ros2 service call /hric/motion/set_motion_mode hric_msgs/srv/SetMotionMode "{walk_mode_request: 5, is_need_swing_arm: false}"

8.18.2 Motion ID Call Interface

Interface name: /hric/motion/set_motion_number
Type: ROS Service
Description: Request to trigger a predefined motion
Provider module: Motion control
Subscriber module: Robot management

Message type: hric_msgs/SetMotionNumber.srv

Service msg	Field name	Type	Required	Description
Request	`is_motion`	bool	Yes	Valid only in stand + E‑up state. `true`: trigger an action immediately (one‑shot); `false`: no trigger
Request	`motion_number`	int32	Yes	Motion ID in `[1, 5]`; e.g., `1` = wave hand
Response	`sucess`	bool	Yes	Whether the Service call succeeded

Example:

cd ros2ws
source install/setup.bash

ros2 service call /hric/motion/set_motion_number hric_msgs/srv/SetMotionNumber "{is_motion: true, motion_number: 1}"

ros2 service call /hric/motion/set_motion_number hric_msgs/srv/SetMotionNumber "{is_motion: true, motion_number: 2}"

ros2 service call /hric/motion/set_motion_number hric_msgs/srv/SetMotionNumber "{is_motion: true, motion_number: 3}"

ros2 service call /hric/motion/set_motion_number hric_msgs/srv/SetMotionNumber "{is_motion: true, motion_number: 4}"

ros2 service call /hric/motion/set_motion_number hric_msgs/srv/SetMotionNumber "{is_motion: true, motion_number: 5}"

8.18.3 Vector Velocity Control Interface

Interface name: /hric/robot/cmd_vel
Type: topic
Description: Publish velocity commands to control robot motion.
Publisher module: Remote controller
Subscriber module: Robot management

Message type: geometry_msgs/msg/TwistStamped

geometry_msgs/msg/TwistStamped  # Structure:
std_msgs/Header header
geometry_msgs/Twist twist

# geometry_msgs/Twist:
geometry_msgs/Vector3 linear
geometry_msgs/Vector3 angular

# linear: linear velocity in m/s
#   x: forward/backward
#   y: lateral (left/right)
#   z: up/down
#
# angular: angular velocity in rad/s
#   z: yaw rotation (left/right turn)

Message rate: 20 Hz

Examples:

cd ros2ws
source install/setup.bash

# Forward at 0.15 m/s in x
ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.15, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"

# Forward at 0.20 m/s in x
ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.20, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"

# All linear and angular velocities zero (in‑place stepping)
ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"

# Turn left with angular velocity 0.1 rad/s
ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.1}}}"

# Turn right with angular velocity -0.1 rad/s
ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.1}}}"

# To return the robot to in‑place stepping, publish cmd_vel again with all zeros.

8.18.4 Lower‑Body Motion Status Publishing

Interface name: /hric/motion/status
Type: topic
Description: Publish motion‑control status and velocity.
Publisher module: Motion control
Publish rate: 20 Hz
Subscriber modules: Robot management, localization, navigation

Message type: hric_msgs/MotionStatus.msg

Field name	Type	Required	Description
`header`	`Header`	Yes	Timestamp and frame information
`velocity`	`geometry_msgs/Twist`	Yes	Velocity in the waist coordinate frame
`walk_mode`	uint8	Yes	Walk state: `0: stop`, `1: zero`, `3: stand`, `5: walk`, `7: run`
`is_console_control`	bool	Yes	`true`: navigation control; `false`: remote controller control
`is_swing_arm`	bool	Yes	Whether arm swing is enabled in walk mode
`error_code`	uint32	Yes	Error code: `NONE = 0`, `UNKNOWN = 400`

Example message:

{
  "header": {
    "seq": 1,
    "stamp": {
      "secs": 1622548800,
      "nsecs": 0
    },
    "frame_id": ""
  },
  "velocity": {
    "linear": {
      "x": 1.0,
      "y": 0.0,
      "z": 0.0
    },
    "angular": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "walk_mode": 1,
  "error_code": 0
}

🆕 8.18.5 Base Height and Attitude Control Interface

Interface name: /hric/robot/float_base_rpyz_cmd
Type: topic
Description: In stand mode, publish waist roll‑pitch‑yaw‑z (RPYZ) commands to control robot posture.
Subscriber module: Robot management
Message type: hric_msgs/FloatBaseRPYZ.msg
Message rate: 400 Hz

Control ranges:

roll  [-0.2,  0.2] rad
pitch [-0.3,  0.4] rad
yaw   [-1.0,  1.0] rad
z     [0.6,  0.89] m   (default: 0.89 m)

Examples:

# Run source command before all operations:
cd ros2ws/
source install/setup.bash

# Set height to 0.88 m:
ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: 0.0, pitch: 0.0, yaw: 0.0, z: 0.88 }"

# Roll left/right; positive roll tilts to the right:
ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: 0.02, pitch: 0.0, yaw: 0.0, z: 0.88 }"

ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: -0.02, pitch: 0.0, yaw: 0.0, z: 0.88 }"

# Pitch forward/backward; positive pitch tilts forward:
ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: 0.0, pitch: 0.05, yaw: 0.0, z: 0.88 }"

ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: 0.0, pitch: -0.05, yaw: 0.0, z: 0.88 }"

# Yaw left/right; positive yaw rotates to the left:
ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: 0.0, pitch: 0.0, yaw: 0.03, z: 0.88 }"

ros2 topic pub /hric/robot/float_base_rpyz_cmd hric_msgs/msg/FloatBaseRPYZ "{ roll: 0.0, pitch: 0.0, yaw: -0.03, z: 0.88 }"

🆕 8.18.6 Base Height and Attitude Status Feedback

Interface name: /hric/robot/float_base_rpyz_status
Type: topic
Description: Publish the actual RPYZ of the floating base in stand mode.
Publisher module: Motion control
Publish rate: 400 Hz
Subscriber modules: Robot management, teleoperation
Message type: hric_msgs/FloatBaseRPYZ.msg

Example command:

# Feedback for base height and attitude
ros2 topic echo /hric/robot/float_base_rpyz_status

Example message:

roll: 4.081035528590296e-05
pitch: 0.02553808313186995
yaw: -0.0002636909484863281
z: 0.8828393155853616

🆕 8.18.7 Action Status Feedback Interface

Interface name: /hric/robot/action_status
Type: topic
Description: Obtain the current motion number and whether an action is being executed.
Publisher module: Motion control
Publish rate: 400 Hz
Subscriber modules: Robot management, teleoperation
Message type: hric_msgs/ActionStatus.msg

Example command

# Example command to view action status
ros2 topic echo /hric/robot/action_status

Example message:
```
motion_number: 1
is_motion: false
```

🆕 8.18.8 X‑Direction Velocity Limit Status Feedback

Interface name: /hric/robot/get_vel_limit
Type: topic
Description: Obtain the current x‑direction velocity limit settings.
Publisher module: Motion control
Publish rate: 400 Hz
Subscriber modules: Robot management, teleoperation
Message type: hric_msgs/GetVelLimit.msg

Example command

# Example command to view x‑direction velocity limits
ros2 topic echo /hric/robot/get_vel_limit

Example message:

x_vel_limit_walk: 1.0
x_vel_limit_run: 2.0

🆕 8.18.9 X‑Direction Velocity Limit Setting Interface

Interface name: /hric/robot/set_vel_limit
Type: topic
Description: Set x‑direction velocity limits in m/s. The setting only takes effect when the robot is in ZERO or STOP state and is reset after a reboot.
Publisher module: Motion control
Publish rate: 400 Hz
Subscriber modules: Robot management, teleoperation
Message type: hric_msgs/SetVelLimit.msg

Example:

# Run source command before all operations:
cd ros2ws/
source install/setup.bash

ros2 topic pub /hric/robot/set_vel_limit hric_msgs/msg/SetVelLimit "{ x_vel_limit_walk: 0.5, x_vel_limit_run: 1.5 }"

8.18.1 Motion Mode Switching​

8.18.2 Motion ID Call Interface​

8.18.3 Vector Velocity Control Interface​

8.18.4 Lower‑Body Motion Status Publishing​

🆕 8.18.5 Base Height and Attitude Control Interface​

🆕 8.18.6 Base Height and Attitude Status Feedback​

🆕 8.18.7 Action Status Feedback Interface​

🆕 8.18.8 X‑Direction Velocity Limit Status Feedback​

🆕 8.18.9 X‑Direction Velocity Limit Setting Interface​

8.18.1 Motion Mode Switching

8.18.2 Motion ID Call Interface

8.18.3 Vector Velocity Control Interface

8.18.4 Lower‑Body Motion Status Publishing

🆕 8.18.5 Base Height and Attitude Control Interface

🆕 8.18.6 Base Height and Attitude Status Feedback

🆕 8.18.7 Action Status Feedback Interface

🆕 8.18.8 X‑Direction Velocity Limit Status Feedback

🆕 8.18.9 X‑Direction Velocity Limit Setting Interface