Skip to main content
Version: V2.0.5.1

8.4 Joint Temperature Interface

Description: Temperatures of all joints are published as a topic at 1 Hz.

  • Message definition: bodyctrl_msgs::msg::MotorStatus1

  • Message format:

    std_msgs/Header header
    MotorStatus1[] status

    # MotorStatus1 definition:
    uint16 name             # MotorName
    float32 motortemperature
    float32 mostemperature

  1. Head joint temperature (applicable to Walker Tienkung · Embodied Intelligence)

    • Topic name: /head/motor_status
    ros2 topic echo /head/motor_status

  2. Waist joint temperature (applicable to Walker Tienkung Embodied Intelligence)

    • Topic name: /waist/motor_status
    ros2 topic echo /waist/motor_status  # Available on Walker Tienkung · Embodied Intelligence

  3. Arm joint temperature (applicable to all Walker Tienkung models)

    • Topic name: /arm/motor_status
    ros2 topic echo /arm/motor_status  # applicable to all Walker Tienkung models

  4. Leg joint temperature (applicable to all Walker Tienkung models)

    • Topic name: /leg/motor_status
    ros2 topic echo /leg/motor_status  # applicable to all Walker Tienkung models