RaiboNode

The source code for Raibo Node can be found in src/raisin_raibo2.

This node primarily facilitates communication between worldHub_ and other components. It initializes a raisin::Network instance, launches both TCP and WebSocket servers, and manages logging and plugin/controller lifecycles.

Run

These commands can also be executed using the raisin_gui

Run In simulation

If you installed the binary package, simply run the executable after raisin setup

The executable is install/bin/raisin_raibo2_node.

Change Configuration

Configuration is loaded from $raisin_ws/install/config/raisin_raibo2/config/params.yaml and overrides in ~/.raisin/raisin_raibo2/params.yaml. Key settings include:

threads: defines thread groups (thread_0, thread_1, …) that must be consecutive.
network_interface: list of network interface names for discovery (lo is added by default).
plugin: plugin list with rate and optional instances / active_instances_at_start values.
modules and raisim_config: module list and simulation config file for Raisim.
max_logging_volume (MB): forwarded to DataLogger::setAllowedDataSize.
~/.raisin/raisin_raibo2/modules files are copied into the installed resource directory at startup to make custom modules available.

Logs are stored under log/raisin_data_logger/<deviceType>_YYYY-mm-dd-hh-mm-ss/ in the workspace.

Ensure that the camera is properly configured, including settings for use_depth and use_rgb, and serial_number. This configuration is essential for the camera to function correctly according to your requirements. If a sensor is not connected on a real robot, make sure to set use_sensor false, otherwise the robot will not operate.

It subscribes to the joy_sig topic to receive joystick state changes and to command for high-level velocity/body commands. Controllers and plugins can be loaded through services listed below.

Interfaces

Publishers

`robot_state`

Type: raisin::raisin_interfaces::msg::RobotState
Header: raisin_interfaces/msg/robot_state.hpp
Members: actuator_states[], base_pos[3], base_quat[4], base_lin_vel[3], base_ang_vel[3], imu, max_voltage, min_voltage, max_current, voltage, current, body_temperature, state, joy_listen_type, joy_listen_state[]
Notes: actuator_states holds name, position, velocity, effort, status, temperature for each joint.

`module_list`

Type: raisin::raisin_interfaces::msg::ModuleList
Header: raisin_interfaces/msg/module_list.hpp
Members: controllers[], loaded_controller, plugin_states[]
Notes: plugin_states includes name, instances[], is_loadable, is_unloadable.

`profile`

Type: raisin::raisin_interfaces::msg::TimeProfile
Header: raisin_interfaces/msg/time_profile.hpp
Members: cpu_usage, memory_usage, disk_usage, cpu_temperature, scope_measurements[] (id, total_time, count)

`threadpool`

Type: raisin::raisin_interfaces::msg::ThreadPoolProfile
Header: raisin_interfaces/msg/thread_pool_profile.hpp
Members: thread_pool_profiles[] (each includes event_task_profiles[] and periodic_task_profiles[] with name, execute_count, delay_sum, execution_time)

`joint_states`

Type: raisin::raisin_interfaces::msg::JointStates
Header: raisin_interfaces/msg/joint_states.hpp
Members: timestamp, num_joints, joint_states[] (joint_position, joint_velocity)

`init_motor`

Type: raisin::std_msgs::msg::String
Header: std_msgs/msg/string.hpp
Members: data
Notes: Status updates for motor initialization.

`stop_motor`

Type: raisin::std_msgs::msg::String
Header: std_msgs/msg/string.hpp
Members: data
Notes: Status updates for motor shutdown.

`d430_front/grid_map_depth_data`

Type: raisin::raisin_grid_mapping_plugin::msg::GridMapDepthData
Header: raisin_grid_mapping_plugin/msg/grid_map_depth_data.hpp
Notes: Republishes depth frames for grid mapping. Published only when the grid mapping plugin is available.

`d430_rear/grid_map_depth_data`

Type: raisin::raisin_grid_mapping_plugin::msg::GridMapDepthData
Header: raisin_grid_mapping_plugin/msg/grid_map_depth_data.hpp
Notes: Republishes depth frames for grid mapping.

`d455_front/grid_map_depth_data`

Type: raisin::raisin_grid_mapping_plugin::msg::GridMapDepthData
Header: raisin_grid_mapping_plugin/msg/grid_map_depth_data.hpp
Notes: Republishes depth frames for grid mapping.

Subscribers

`command`

Type: raisin::raisin_interfaces::msg::Command
Header: raisin_interfaces/msg/command.hpp
Members: x_pos, y_pos, x_vel, y_vel, yaw_rate, pitch_angle, body_height, pan_dir, tilt_dir
Notes: High-level body and velocity command input.

`joy_sig`

Type: raisin::std_msgs::msg::Int16
Header: std_msgs/msg/int16.hpp
Members: data
Notes: Joystick signal for state changes (stand/sit/stop).

`d430_front/depth`

Type: raisin::sensor_msgs::msg::Image
Header: sensor_msgs/msg/image.hpp
Members: header, height, width, encoding, is_bigendian, step, data
Notes: Forwarded to grid mapping when enabled.

`d430_rear/depth`

Type: raisin::sensor_msgs::msg::Image
Header: sensor_msgs/msg/image.hpp
Members: header, height, width, encoding, is_bigendian, step, data
Notes: Forwarded to grid mapping when enabled.

`d455_front/depth`

Type: raisin::sensor_msgs::msg::Image
Header: sensor_msgs/msg/image.hpp
Members: header, height, width, encoding, is_bigendian, step, data
Notes: Forwarded to grid mapping when enabled.

`/Odometry/state_estimator`

Type: raisin::nav_msgs::msg::Odometry
Header: nav_msgs/msg/odometry.hpp
Members: header, child_frame_id, pose (position + orientation + covariance), twist (linear + angular velocity + covariance)
Notes: Used for base state estimation and sensor pose updates.

`base_imu/imu`

Type: raisin::sensor_msgs::msg::Imu
Header: sensor_msgs/msg/imu.hpp
Members: header, orientation, orientation_covariance, angular_velocity, angular_velocity_covariance, linear_acceleration, linear_acceleration_covariance
Notes: Used for state estimation and logging.

Services

`turn_on`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message
Notes: Starts the robot loop if not already running.

`turn_off`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message
Notes: Stops the robot loop if running.

`list_log_tree`

Type: raisin::raisin_interfaces::srv::LogTree
Header: raisin_interfaces/srv/log_tree.hpp
Response members used: username, prefix, ssh_port, dirs[], sizes[]
Notes: Lists log directories and sizes for the current robot.

`describe_robot`

Type: raisin::raisin_interfaces::srv::RobotDescription
Header: raisin_interfaces/srv/robot_description.hpp
Response members used: success, is_real_robot, robot_model, robot_nickname, serial_number, driver_version, robot_software_version, max_voltage, min_voltage, max_current

`init_motor`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message
Notes: Initializes EtherCAT and motor drivers.

`stop_motor`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message

`set_home_with_type`

Type: raisin::raisin_interfaces::srv::String
Header: raisin_interfaces/srv/string.hpp
Request members used: data
Response members used: success, message
Notes: Sets home offsets using the provided mode string.

`joint_test`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message

`stand_up`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message

`sit_down`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message

`load_controller`

Type: raisin::raisin_interfaces::srv::String
Header: raisin_interfaces/srv/string.hpp
Request members used: data
Response members used: success, message
Notes: Loads a controller by name and unloads the current controller if needed.

`motor_commutation`

Type: raisin::raisin_interfaces::srv::String
Header: raisin_interfaces/srv/string.hpp
Request members used: data
Response members used: success, message

`load_plugin`

Type: raisin::raisin_interfaces::srv::LoadPlugin
Header: raisin_interfaces/srv/load_plugin.hpp
Request members used: plugin_name, title, flag
Response members used: success, message

`set_home`

Type: raisin::std_srvs::srv::Trigger
Header: std_srvs/srv/trigger.hpp
Request members used: none
Response members used: success, message
Notes: Deprecated in favor of set_home_with_type.

Clients

`load_controller`

Type: raisin::raisin_interfaces::srv::String
Header: raisin_interfaces/srv/string.hpp
Notes: Internal polling client used to load the default locomotion controller after standing.

RaiboNode

Run

Run In simulation

Change Configuration

Interfaces

Publishers

robot_state

module_list

profile

threadpool

joint_states

init_motor

stop_motor

d430_front/grid_map_depth_data

d430_rear/grid_map_depth_data

d455_front/grid_map_depth_data

Subscribers

command

joy_sig

d430_front/depth

d430_rear/depth

d455_front/depth

/Odometry/state_estimator

base_imu/imu

Services

turn_on

turn_off

list_log_tree

describe_robot

init_motor

stop_motor

set_home_with_type

joint_test

stand_up

sit_down

load_controller

motor_commutation

load_plugin

set_home

Clients

load_controller

Development

`robot_state`

`module_list`

`profile`

`threadpool`

`joint_states`

`init_motor`

`stop_motor`

`d430_front/grid_map_depth_data`

`d430_rear/grid_map_depth_data`

`d455_front/grid_map_depth_data`

`command`

`joy_sig`

`d430_front/depth`

`d430_rear/depth`

`d455_front/depth`

`/Odometry/state_estimator`

`base_imu/imu`

`turn_on`

`turn_off`

`list_log_tree`

`describe_robot`

`init_motor`

`stop_motor`

`set_home_with_type`

`joint_test`

`stand_up`

`sit_down`

`load_controller`

`motor_commutation`

`load_plugin`

`set_home`

`load_controller`