R1 Lite Software Introduction

Environment Dependencies

Hardware Dependency: R1 Lite Computing Unit
Operating System Dependency: Ubuntu 22.04 LTS
Middleware Dependency: ROS Humble

Software Version Log

Visit Galaxea R1 Lite Software Version Update Log to get the latest SDK package and update information.

First-Time Operation Guide

Visit Galaxea R1 Lite Unboxing and Startup Guide and follow the instructions to operate Galaxea R1 Lite.

Start the SDK

Currently, two startup modes are supported: separate startup and one-click startup.
For your safety, it is recommended to use the separate startup method.
Operation instructions are as follows:

Module Name	Included Components	Path	Launch File
HDAS	Arms Driver Torso Driver Chassis Driver IMU Driver BMS Driver	{sdk_path}/install/HDAS/share/HDAS/launch	r1lite.py
camera_driver	Head Camera Interface	{sdk_path}/install/camera_driver/share/camera_driver/launch	run.py
realsense2_camera	Wrist Camera Interface	{sdk_path}/install/realsense2_camera/share/realsense2_camera/launch	rs_multi_camera_3.0_launch.py
mobiman	Arm Control Chassis Control Torso Control Gripper Control End Effector Pose Interface	{sdk_path}/install/mobiman/share/mobiman/launch	r1_lite_jointTrackerdemo_fast_launch.py r1_lite_chassis_control_w_o_eepose_launch.py torso_control_r1_lite.launch.py r1_gripperController_launch.py r1_lite_eepose_launch.py
robot_monitor	Robot Monitor Interface	{sdk_path}/install/system_monitor_node/share/system_monitor_node/launch	robot_monitor.py
data collection	Data Collection	{sdk_path}/install/data_collection/share/data_collection/launch	data_collection_launch.py
robot diagnosis system	rds_ros	{sdk_path}/install/rds_ros/share/rds_ros/launch	monitor.py

Separate Startup

All nodes can be launched with the following command template. Configuration method:

Note: Before launching nodes, please ensure the CAN driver is properly configured.

bash ~/can.bash
# You may need to enter the password again: 1
# If the error "RTNETLINK answers: Device or resource busy" occurs, it usually means the device you are trying to configure (such as a network interface or CAN transceiver) has already been configured and is currently running.

Node startup command:

source {sdk_path}/install/setup.bash
ros2 launch <Package Name> <Launch File>
# Example
ros2 launch HDAS r1lite.py

One-Click Startup

Note: Executing the following command will start all drivers and motion control interfaces.

cd {sdk_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d

Software Interfaces

Currently, Galaxea R1 Lite consists of 6 main parts: arm joint control, arm pose control, gripper control, torso velocity control, torso joint control, and chassis control.
The entire software package is abbreviated as “mobiman,” meaning mobile manipulation.

Driver Interfaces

Arm Driver Interface

This interface is a ROS software package for robotic arm control and state feedback. It defines multiple topics for publishing and subscribing to arm state, control commands, and related error codes.
The following describes each topic and its corresponding message type in detail:

Topic Name	I/O	Description	Message Type
/hdas/feedback_arm_left	Output	Left Arm Joint Feedback	sensor_msgs::JointState
/hdas/feedback_arm_right	Output	Right Arm Joint Feedback	sensor_msgs::JointState
/hdas/feedback_gripper_left	Output	Left Gripper Stroke	sensor_msgs::JointState
/hdas/feedback_gripper_right	Output	Right Gripper Stroke	sensor_msgs::JointState
/hdas/feedback_status_arm_left	Output	Left Arm Status Feedback	hdas_msg::feedback_status
/hdas/feedback_status_arm_right	Output	Right Arm Status Feedback	hdas_msg::feedback_status
/hdas/feedback_status_gripper_left	Output	Left Gripper Status Feedback	hdas_msg::feedback_status
/hdas/feedback_status_gripper_right	Output	Right Gripper Status Feedback	hdas_msg::feedback_status
/motion_control/control_arm_left	Input	Left Arm Motor Control	hdas_msg::motor_control
/motion_control/control_arm_right	Input	Right Arm Motor Control	hdas_msg::motor_control
/motion_control/control_gripper_left	Input	Left Gripper Motor Control	hdas_msg::motor_control
/motion_control/control_gripper_right	Input	Right Gripper Motor Control	hdas_msg::motor_control

The specific fields of the above topics and their detailed descriptions are shown in the table below:

Topic Name	Field	Description
/hdas/feedback_arm_left	header	Standard message header
	position	[Joint 1 position, Joint 2 position, Joint 3 position, Joint 4 position, Joint 5 position, Joint 6 position, Gripper joint position]
	velocity	[Joint 1 velocity, Joint 2 velocity, Joint 3 velocity, Joint 4 velocity, Joint 5 velocity, Joint 6 velocity, Gripper joint velocity]
	effort	[Joint 1 torque, Joint 2 torque, Joint 3 torque, Joint 4 torque, Joint 5 torque, Joint 6 torque, Gripper joint torque]
/hdas/feedback_arm_right	header	Standard message header
	position	[Joint 1 position, Joint 2 position, Joint 3 position, Joint 4 position, Joint 5 position, Joint 6 position, Gripper joint position]
	velocity	[Joint 1 velocity, Joint 2 velocity, Joint 3 velocity, Joint 4 velocity, Joint 5 velocity, Joint 6 velocity, Gripper joint velocity]
	effort	[Joint 1 torque, Joint 2 torque, Joint 3 torque, Joint 4 torque, Joint 5 torque, Joint 6 torque, Gripper joint torque]
/hdas/feedback_gripper_left	header	Standard message header
	position	Gripper stroke (0–100 mm)
	velocity	Not used
	effort	Not used
/hdas/feedback_gripper_right	header	Standard message header
	position	Gripper stroke (0–100 mm)
	velocity	Not used
	effort	Not used
/hdas/feedback_status_arm_left	header	Standard message header
	name_id	Joint name
	errors	Contains error codes and corresponding error descriptions
/hdas/feedback_status_arm_right	header	Standard message header
	name_id	Joint name
	errors	Contains error codes and corresponding descriptions
/hdas/feedback_status_gripper_left	header	Standard message header
	name_id	Joint name
	errors	Contains error codes and corresponding descriptions
/hdas/feedback_status_gripper_right	header	Standard message header
	name_id	Joint name
	errors	Contains error codes and corresponding descriptions
/motion_control/control_arm_left (MIT)	header	Standard message header
	name	-
	p_des	[Joint1 position, Joint2 position, Joint3 position, Joint4 position, Joint5 position, Joint6 position, Gripper joint position]
	v_des	[Joint1 velocity, Joint2 velocity, Joint3 velocity, Joint4 velocity, Joint5 velocity, Joint6 velocity, Gripper joint velocity]
	kp	[Joint1 kp, Joint2 kp, Joint3 kp, Joint4 kp, Joint5 kp, Joint6 kp, Gripper joint kp]
	kd	[Joint1 kd, Joint2 kd, Joint3 kd, Joint4 kd, Joint5 kd, Joint6 kd, Gripper joint kd]
	t_ff	[Joint1 torque, Joint2 torque, Joint3 torque, Joint4 torque, Joint5 torque, Joint6 torque, Gripper joint torque]
	mode	-
/motion_control/control_arm_left (PID)	header	Standard message header
	name	-
	p_des	[Joint1 position, Joint2 position, Joint3 position, Joint4 position, Joint5 position, Joint6 position, Gripper joint position]
	v_des	-
	t_ff	-
	mode	-
/motion_control/control_arm_right (MIT)	header	Standard message header
	name	-
	p_des	[Joint1 position, Joint2 position, Joint3 position, Joint4 position, Joint5 position, Joint6 position, Gripper joint position]
	v_des	[Joint1 velocity, Joint2 velocity, Joint3 velocity, Joint4 velocity, Joint5 velocity, Joint6 velocity, Gripper joint velocity]
	kp	[Joint1 kp, Joint2 kp, Joint3 kp, Joint4 kp, Joint5 kp, Joint6 kp, Gripper joint kp]
	kd	[Joint1 kd, Joint2 kd, Joint3 kd, Joint4 kd, Joint5 kd, Joint6 kd, Gripper joint kd]
	t_ff	[Joint1 torque, Joint2 torque, Joint3 torque, Joint4 torque, Joint5 torque, Joint6 torque, Gripper joint torque]
	mode	-
/motion_control/control_arm_right (PID)	header	Standard message header
	name	-
	p_des	[Joint1 position, Joint2 position, Joint3 position, Joint4 position, Joint5 position, Joint6 position, Gripper joint position]
	v_des	[Joint1 max velocity limit, Joint2 max velocity limit, Joint3 max velocity limit, Joint4 max velocity limit, Joint5 max velocity limit, Joint6 max velocity limit, Gripper joint max velocity limit]
	t_ff	[Joint1 max torque limit, Joint2 max torque limit, Joint3 max torque limit, Joint4 max torque limit, Joint5 max torque limit, Joint6 max torque limit, Gripper joint max torque limit]
	mode	-
/motion_control/control_gripper_left	header	Standard message header
	name	-
	p_des	Gripper motor position
	v_des	Gripper motor velocity
	kp	Gripper motor kp
	kd	Gripper motor kd
	t_ff	Gripper torque
	mode	-
/motion_control/control_gripper_right	header	Standard message header
	name	-
	p_des	Gripper motor position
	v_des	Gripper motor velocity
	kp	Gripper motor kp
	kd	Gripper motor kd
	t_ff	Gripper torque
	mode	-
/motion_control/position_control_gripper_left	header	Standard message header
/motion_control/position_control_gripper_left	data	Expected gripper stroke (0-100mm)
/motion_control/position_control_gripper_right	header	Standard message header
/motion_control/position_control_gripper_right	data	Expected gripper stroke (0-100mm)

Robot Arm Joint Motor Control Interface

/motion_control/control_arm_left
/motion_control/control_arm_right

1. MIT Torque-Position Hybrid Control Mode Architecture

R1_Lite_arm_driver_mit_mode

The motor output torque formula calculates the reference torque Tref for the current loop as follows:

\(K_p(p_d - p_e) + K_d(v_d - v_e)+t_{ff} = T_{ref}\)

Where:
- Kp, Kd are the proportional gains for position and velocity.
- p_des, v_des are the desired position and velocity.
- t_ff is the feedforward torque.
- p_e is the encoder feedback position, v_e is the motor speed obtained by differentiation.

Inputs: Kp, Kd, p_des, v_des, t_ff. Feedback p_e and v_e do not need manual input.

Tips:
- Feedforward torque: This is a required value. Position and velocity terms cannot compensate for large torque errors, so feedforward torque should at least compensate for the arm's self-weight.
- Recommended gains: For A1X motors, the recommended kp and kd values are:

A1X_kp = [140.0, 200.0, 120.0, 80.0, 80.0, 80.0]
A1X_kd = [10.0, 30.0, 5.0, 10.0, 10.0, 10.0]

2. PID Servo Control Mode Architecture

R1_Lite_arm_driver_pid_mode

The servo control mode uses a three-loop PID control (position loop, velocity loop, current loop) with an integral term, reducing steady-state error. To maintain interface consistency, the control data format is the same as MIT mode.

Where:
- p_des: desired angle (rad)
- v_des: meaningless
- k_p, k_d: meaningless
- t_ff: meaningless

Torso Control Interface

This interface is used for torso control and status feedback via ROS. It defines multiple topics for publishing and subscribing to torso motor states and commands.

Topic Name	I/O	Description	Message Type
/hdas/feedback_torso	Output	Torso joint feedback	sensor_msgs::JointState
/hdas/feedback_status_torso	Output	Torso status feedback	hdas_msg::feedback_status
/motion_control/control_torso	Input	Torso motor control	hdas_msg::motor_control

Topic Name	Field	Description
/hdas/feedback_torso	header	Standard message header
	position	[Joint1 position, Joint2 position, Joint3 position, 0]
	velocity	[Joint1 velocity, Joint2 velocity, Joint3 velocity, 0]
	effort	[Joint1 torque, Joint2 torque, Joint3 torque, 0]
/hdas/feedback_status_torso	header	Standard message header
	name_id	Joint name
	errors	Contains error codes and corresponding descriptions
/motion_control/control_torso	header	Standard message header
	name	-
	p_des	[Joint1 position, Joint2 position, Joint3 position, 0]
	v_des	[Joint1 max velocity, Joint2 max velocity, Joint3 max velocity, 0]
	kp	[-, -, -, -]
	kd	[-, -, -, -]
	t_ff	[-, -, -, -]
	mode	-

Chassis Drive Interface

This interface is used for ROS-based chassis state feedback and defines multiple topics to report the status of chassis motors. The detailed message types for each topic are as follows:

Topic Name	I/O	Description	Message Type
/hdas/feedback_chassis	Output	Chassis hub and steering motor feedback	sensor_msgs::JointState
/hdas/feedback_status_chassis	Output	Chassis status feedback	hdas_msg::feedback_status
/motion_control/control_chassis	Input	Chassis hub and steering motor control	hdas_msg::motor_control

The detailed fields of the above topics are as follows:

Topic Name	Field	Description
/hdas/feedback_chassis	header	Standard message header
	position	[Front left wheel angle, Front right wheel angle, Rear wheel angle]
	velocity	[Front left wheel linear velocity, Front right wheel linear velocity, Rear wheel linear velocity] [0.0, 0.0, 0.0]
	effort	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
/hdas/feedback_status_chassis	header	Standard message header
	name_id	Joint name
	errors	Contains error codes and corresponding descriptions
/motion_control/control_chassis	header	Standard message header
	name	-
	p_des	[Front left wheel angle, Front right wheel angle, Rear wheel angle]
	v_des	[Front left wheel linear velocity, Front right wheel linear velocity, Rear wheel linear velocity]
	kp	-
	kd	-
	t_ff	-
	mode	-

Camera Interface

Topic Name	I/O	Description	Message Type
/hdas/camera_wrist_left/color/image_raw/compressed	Output	Left wrist camera RGB compressed image	sensor_msgs::CompressedImage
/hdas/camera_wrist_right/color/image_raw/compressed	Output	Right wrist camera RGB compressed image	sensor_msgs::CompressedImage
/hdas/camera_head/left_raw/image_raw_color/compressed	Output	Head left camera RGB compressed image	sensor_msgs::CompressedImage
/hdas/camera_head/right_raw/image_raw_color/compressed	Output	Head right camera RGB compressed image	sensor_msgs::CompressedImage
/hdas/camera_wrist_left/aligned_depth_to_color/image_raw	Output	Left wrist camera depth image	sensor_msgs::Image
/hdas/camera_wrist_right/aligned_depth_to_color/image_raw	Output	Right wrist camera depth image	sensor_msgs::Image

Camera Topic Fields and Details

Topic Name	Field	Description
/hdas/camera_wrist_left/color/image_raw/compressed	header	Standard message header
	format	JPEG
	data	Image data
/hdas/camera_wrist_right/color/image_raw/compressed	header	Standard message header
	format	JPEG
	data	Image data
/hdas/camera_head/left_raw/image_raw_color/compressed	header	Standard message header
	format	JPEG format
	data	Image data
/hdas/camera_head/right_raw/image_raw_color/compressed	header	Standard message header
	format	JPEG format
	data	Image data
/hdas/camera_wrist_left/aligned_depth_to_color/image_raw	header	Standard message header
	height	Depends on configuration
	width	Depends on configuration
	encoding	16UC1
	is_bigendian	0
	step	Depends on configuration
	data	Image data
/hdas/camera_wrist_right/aligned_depth_to_color/image_raw	header	Standard message header
	height	Depends on configuration
	width	Depends on configuration
	encoding	16UC1
	is_bigendian	0
	step	Depends on configuration
	data	Image data

IMU Interface

Topic Name	I/O	Description	Message Type
/hdas/imu_chassis	Output	Chassis IMU feedback	sensor_msgs::Imu
/hdas/imu_torso	Output	Torso IMU feedback	sensor_msgs::Imu

IMU Fields Detail

Topic Name	Field	Description
/hdas/imu_chassis	header	Standard message header
	orientation.x	Quaternion x
	orientation.y	Quaternion y
	orientation.z	Quaternion z
	orientation.w	Quaternion w
	angular_velocity.x	Gyroscope angular velocity x
	angular_velocity.y	Gyroscope angular velocity y
	angular_velocity.z	Gyroscope angular velocity z
	linear_acceleration.x	Linear acceleration x
	linear_acceleration.y	Linear acceleration y
	linear_acceleration.z	Linear acceleration z
/hdas/imu_torso	header	Standard message header
	orientation.x	Quaternion x
	orientation.y	Quaternion y
	orientation.z	Quaternion z
	orientation.w	Quaternion w
	angular_velocity.x	Gyroscope angular velocity x
	angular_velocity.y	Gyroscope angular velocity y
	angular_velocity.z	Gyroscope angular velocity z
	linear_acceleration.x	Linear acceleration x
	linear_acceleration.y	Linear acceleration y
	linear_acceleration.z	Linear acceleration z

BMS Interface

Topic Name	I/O	Description	Message Type
/hdas/bms	Output	Battery BMS message	hdas_msg::bms

Topic Name	Field	Description
/hdas/bms	header	Standard message header
	voltage	Voltage (V)
	current	Current (A)
	capital	Remaining capacity (%)

Controller Interface

Topic Name	I/O	Description	Message Type
/controller	Output	Controller signal	hdas_msg::controller_signal_stamped

The detailed fields and descriptions for the above topic are shown in the table below:

Topic Name	Field	Description
/controller	header	Standard message header
	data.left_x_axis	Left joystick X-axis
	data.left_y_axis	Left joystick Y-axis
	data.right_x_axis	Right joystick X-axis
	data.right_y_axis	Right joystick Y-axis
	mode	2: Controller control (chassis) 5: PC control (chassis)

Motion Control Interfaces

Arm Joint Control: This node is responsible for controlling each joint of the arm.
Arm Pose Control: This node is responsible for controlling the arm to move to the target end-effector (ee) coordinate frame, divided into left and right arm pose control.
Torso Velocity Control: This node is responsible for controlling the torso to move to the target floating base coordinate frame.
Chassis Control: This node uses vector control to drive the R1 Lite chassis and can simultaneously send velocity commands in three directions: x, y, and w.

Arm Joint Control

The arm joint control node is responsible for controlling each joint of the arm, with a total of 6 joints.
It can be started using the following commands:

# Before calling the following interfaces, please make sure FDCAN communication and HDAS node have been started (refer to the separate startup section for instructions)
# Choose one of the following two launch files to start, essentially differing in joint velocity limit parameters
ros2 launch mobiman r1_lite_jointTrackerdemo_launch.py                # (Normal mode)         
ros2 launch mobiman r1_lite_jointTrackerdemo_fast_launch.py           # (High-following mode)

Interface information is as follows:

Topic Name	I/O	Description	Message Type
/motion_target/target_joint_state_arm_left	Input	Target positions of left arm joints	sensor_msgs::JointState
/motion_target/target_joint_state_arm_right	Input	Target positions of right arm joints	sensor_msgs::JointState
/hdas/feedback_arm_left	Input	Left arm joint feedback	sensor_msgs::JointState
/hdas/feedback_arm_right	Input	Right arm joint feedback	sensor_msgs::JointState
/motion_control/control_arm_left	Output	Left arm motor control	hdas_msg::motor_control
/motion_control/control_arm_right	Output	Right arm motor control	hdas_msg::motor_control

The detailed fields and descriptions for the above topics are as follows:

Topic Name	Field	Description
/motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right	header	Standard message header
	position	A vector containing six elements representing the target positions of each joint.
	velocity	A vector containing six elements representing the maximum velocity of each joint during motion.
/hdas/feedback_arm_left	-	Please refer to the arm driver interface
/hdas/feedback_arm_right	-	Please refer to the arm driver interface
/motion_control/control_arm_left	-	Please refer to the arm driver interface
/motion_control/control_arm_right	-	Please refer to the arm driver interface

Arm Pose Control

The arm pose control package is an ROS package used to control the arm's movement to a target end-effector (EE) coordinate frame. It primarily consists of two launch files, one for controlling the left arm's pose and the other for controlling the right arm's pose. It can be launched using the following command:

# Before calling the following APIs, please ensure that the FDCAN communication, HDAS node, and robotic arm joint control node are all activated.
# For instructions on how to activate FDCAN communication and the HDAS node, please refer to the separate activation section. For instructions on activating the robotic arm joint control node, please refer to the robotic arm control section.
ros2 launch mobiman r1_lite_left_arm_relaxed_ik_launch.py
#Open a new terminal window
ros2 launch mobiman r1_lite_right_arm_relaxed_ik_launch.py

# Input: Target attitude calculation
/motion_target/target_pose_arm_left
/motion_target/target_pose_arm_right
# Output: The calculated target joint angles
/motion_target/target_joint_state_arm_left
/motion_target/target_joint_state_arm_right

Note: Since the attitude control system continuously calculates the target joint angles based on the desired target posture, the joint angle control node must be started in advance.

source {sdk_path}/install/setup.bash
ros2 launch mobiman r1_lite_jointTrackerdemo_launch.py

Use the following command to start the arm pose feedback node:

source install setup.bash
ros2 launch mobiman r1_lite_eepose_launch.py

Interface information is as follows:

Topic Name	I/O	Description	Message Type
/motion_target/target_pose_arm_left	Input	Target pose of the left arm end-effector	Geometry_msgs::PoseStamped
/motion_target/target_pose_arm_right	Input	Target pose of the right arm end-effector	Geometry_msgs::PoseStamped
/hdas/feedback_arm_left	Input	Left arm joint feedback	Sensor_msgs::JointState
/hdas/feedback_arm_right	Input	Right arm joint feedback	Sensor_msgs::JointState
/motion_control/control_arm_left	Output	Left arm motor control	hdas_msg::motor_control
/motion_control/control_arm_right	Output	Right arm motor control	hdas_msg::motor_control
/motion_control/pose_ee_arm_left	Output	Actual pose of the left arm end-effector	Geometry_msgs::PoseStamped
/motion_control/pose_ee_arm_right	Output	Actual pose of the right arm end-effector	Geometry_msgs::PoseStamped

The detailed fields and descriptions for the above topics are as follows:

Topic Name	Field	Description
/motion_target/pose_ee_arm_left /motion_target/pose_ee_arm_right	header	Standard message header
	pose.position.x	X-axis offset
	pose.position.y	Y-axis offset
	pose.position.z	Z-axis offset
	pose.orientation.x	Rotation quaternion
	pose.orientation.y	Rotation quaternion
	pose.orientation.z	Rotation quaternion
	pose.orientation.w	Rotation quaternion
/hdas/feedback_arm_left	-	Please refer to the arm driver interface
/hdas/feedback_arm_right	-	Please refer to the arm driver interface
/motion_control/control_arm_left	-	Please refer to the arm driver interface
/motion_control/control_arm_right	-	Please refer to the arm driver interface
/motion_control/pose_ee_arm_left /motion_control/pose_ee_arm_right	header	Standard message header
	pose.position.x	X-axis offset
	pose.position.y	Y-axis offset
	pose.position.z	Z-axis offset
	pose.orientation.x	Rotation quaternion
	pose.orientation.y	Rotation quaternion
	pose.orientation.z	Rotation quaternion
	pose.orientation.w	Rotation quaternion

Gripper Control

The gripper control package is a ROS package used to control the end-effector gripper. It can be started using the following command:

# Before calling the following APIs, please ensure that FDCAN communication and the HDAS node are already started (refer to the separate section on how to start them).
ros2 launch mobiman r1_gripperController_launch.py robot_type:=R1LITE

Note: This startup file will launch R1_Gripper_Controller, not R1_Pro_Gripper_Controller.

Interface Information:

Topic Name	I/O	Description	Message Type
/motion_target/target_position_gripper_left	Input	Target position of the left gripper	sensor_msgs::JointState
/motion_target/target_position_gripper_right	Input	Target position of the right gripper	sensor_msgs::JointState
/motion_control/control_gripper_left	Output	Left gripper motor control	hdas_msg::motor_control
/motion_control/control_gripper_right	Output	Right gripper motor control	hdas_msg::motor_control

The specific fields and their descriptions for the above topics are as follows:

Topic Name	Field	Description
/motion_target/target_position_gripper_left /motion_target/target_position_gripper_right	position	Represents the target position of the left and right grippers [0, 100], where 0 is fully closed and 100 is fully open.
/motion_control/control_gripper_left /motion_control/control_gripper_right	-	Please refer to the arm driver interface

Torso Velocity Control

The torso velocity control is an ROS package used to control the torso's movement to a target floating base coordinate frame. It can be launched using the following command:

# Before using this interface, please ensure that FDCAN communication and the HDAS node are already running (refer to the separate startup section for instructions).
ros2 launch mobiman torso_control_r1_lite.launch.py

Interface information is as follows:

Topic Name	I/O	Description	Message Type
/motion_target/target_speed_torso	Input	Target speed in the floating base frame	Geometry_msgs::TwistStamped
/hdas/feedback_torso	Input	Torso joint feedback	Sensor_msgs::JointState
/motion_control/control_torso	Output	Torso joint control	hdas_msg::motor_control

The detailed fields for the above topics are as follows:

Topic Name	Field	Description
/motion_target/target_speed_torso	target_speed.v_x = msg->linear.x	Torso linear velocity along X in Cartesian space, [-0.2, 0.2] m/s; -0.1 ≤ x ≤ 0.2
	target_speed.v_z = msg->linear.z	Torso linear velocity along Z in Cartesian space, [-0.2, 0.2] m/s; 0.1 ≤ z ≤ 0.7
	target_speed.v_pitch = msg->twist.angular.y	Torso pitch angular velocity in Cartesian space
	target_speed.v_yaw = msg->twist.angular.z	Torso yaw angular velocity in Cartesian space
/hdas/feedback_torso	-	Please refer to the torso drive interface
/motion_control/control_torso	-	Please refer to the torso drive interface

As shown in the diagram, this control node represents the velocity control of torsolink3 relative to base_link, with the direction aligned with the base_link frame.

`

v_x is the velocity of the torso frame along the x-axis relative to base_link (maximum speed is 0.1 m/s). A positive value indicates forward movement relative to base_link, and a negative value indicates backward movement.
v_z is the velocity of the torso frame along the z-axis relative to base_link (maximum speed is 0.1 m/s). A positive value indicates upward movement relative to base_link, and a negative value indicates downward movement.
w_pitch is the angular velocity of the torso frame along the y-axis relative to base_link (maximum speed is 0.3 rad/s), following the right-hand rule.
w_yaw is the angular velocity of the torso frame along the z-axis relative to base_link (maximum speed is 0.3 rad/s), also following the right-hand rule.

Torso Joint Control

The torso joint control node is responsible for controlling each joint of the torso, which has a total of 3 joints. It can be started using the following command:

# Please choose one of the following launch files to start. The only difference is the joint speed limit parameter.
# Before calling the following interface, please ensure that FDCAN communication and HDAS nodes are running (refer to the separate startup section for instructions).
ros2 launch mobiman r1_lite_jointTrackerdemo_fast_launch.py           # (High-speed tracking mode) (default)
ros2 launch mobiman r1_lite_jointTrackerdemo_launch.py                # (Normal mode)

Note:The torso joint control node and the arm control node are part of the same node.

Important Note: Although the torso velocity control node and the torso joint control node can be started simultaneously, the torso velocity control signals and the torso joint control signals cannot be used together. Doing so will cause joint conflicts and pose a safety risk.

# That is, the following two topics cannot be used together when both the torso velocity control node and the torso joint control node are running; only one can be used at a time. Otherwise, it will cause joint conflicts and pose a safety risk.
/motion_target/target_speed_torso
/motion_target/target_joint_state_torso

Interface information is as follows:

Topic Name	I/O	Description	Message Type
/motion_target/target_joint_state_torso	Input	Target positions of torso joints	Sensor_msgs::JointState
/hdas/feedback_torso	Input	Feedback of torso joints	Sensor_msgs::JointState
/motion_control/control_torso	Output	Torso motor control	hdas_msg::motor_control

The detailed fields and descriptions for the above topics are as follows:

Message Name	Field	Description
/motion_target/target_joint_state_torso	header	Standard message header
	position	A vector containing six elements representing the target positions of each joint.
	velocity	A vector containing six elements representing the maximum velocity of each joint during motion.
/hdas/feedback_torso	-	Please refer to the arm driver interface
/motion_control/control_torso	-	Please refer to the arm driver interface

Chassis Control

The chassis control node uses vector control to control the R1 Lite chassis, allowing simultaneous control of three movement directions: x, y, and w. It can be started using the following command:

#Before calling the following APIs, please ensure that FDCAN communication and the HDAS node are already started (refer to the separate section on how to start them).
ros2 launch mobiman r1_lite_chassis_control_w_o_eepose_launch.py

This file will launch a node: r1_lite_chassis_control_node, which is responsible for controlling the velocity of the R1 Lite chassis. Its interface is as follows:

Topic Name	I/O	Description	Message Type
/motion_target/target_speed_chassis	Input	Target velocity of the chassis, including vx, vy, and omega	geometry_msgs::Twist
/motion_target/chassis_acc_limit	Input	Acceleration limits of the chassis; maximum values are 2.5, 1.0, 1.0 for vx, vy, and omega respectively	geometry_msgs::Twist
/motion_target/brake_mode	Input	Command to enable or disable the chassis brake mode. If in brake mode, when the velocity is zero, the chassis will lock itself by slightly rotating the wheels.	std_msgs::Bool
/hdas/feedback_chassis	Input	The R1 Lite chassis controller subscribes to this topic to control the chassis target velocity.	sensor_msgs::JointState
/motion_control/control_chassis	Output	The R1 Lite chassis controller publishes to this topic to control the motors.	hdas_msg::motor_control

The detailed fields and descriptions for the above topics are shown in the table below:

Message Name	Field	Description
/motion_target/target_speed_chassis	header	Standard ROS message header
	linear	Linear velocity
	.x	Linear velocity x, range (-1.5, 1.5) m/s
	.y	Linear velocity y, range (-1.5, 1.5) m/s
	angular	Angular velocity
	.z	Angular velocity z, range (-3, 3) rad/s
/motion_target/chassis_acc_limit	header	Standard ROS message header
	linear	Linear acceleration limits
	.x	Acceleration limit x, range (-2.5, 2.5) m/s²
	.y	Acceleration limit y, range (-1.0, 1.0) m/s²
	angular	Angular acceleration limits
	.z	Angular acceleration limit z, range (-3, 3) rad/s²
/motion_target/brake_mode	data	Boolean value Enter brake mode: True Exit brake mode: False
/hdas/feedback_chassis	-	Refer to the chassis driver interface
/motion_control/control_chassis	-	Refer to the chassis driver interface