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.

Robot State

The raibo::State enum (defined in raisin_raibo2/raibo_state.hpp) represents the lifecycle of the robot node. The value is published as the state field in the robot_state topic.

Caution

From MOTOR_ENABLED (4) onward, the motors generate physical torque. Ensure the robot is in a safe environment and all personnel are clear of the robot before transitioning to this state.

Value	Name	Description
0	`COMM_DISABLED`	Motor communication not started.
1	`COMM_ENABLED`	Motor communication established. The motor drivers have not been initialized yet.
2	`MOTOR_READY`	Motor drivers initialized. Motors are ready to apply physical torque.
3	`MOTOR_COMMUTATION`	(For manufacturer maintenance) Motor commutation in progress.
4	`MOTOR_ENABLED`	Motor enabled. Motors are applying physical torque. The robot is ready to stand up or joint test.
5	`IN_TEST_MODE`	Running joint test. The `joint_test` service has been called and the test controller is exercising each joint. The joint test must be run at least once after the robot is powered on.
6	`STANDING_MODE`	Stand-up (recovery) controller active. The robot is transitioning from a sitting posture to a standing posture. Once the stand-up finishes, the default locomotion controller is loaded automatically and the state transitions to `IN_CONTROL`.
7	`IN_CONTROL`	A locomotion controller is loaded and running. This is the normal operating state.
8	`SITDOWN_MODE`	Sit-down controller active. The robot is transitioning from a standing posture to a sitting posture. Once the sit-down controller finishes, the state transitions back to `MOTOR_ENABLED`.
9	`MOTOR_DISABLED`	Motors disabled due to error. Entered when a critical fault is detected (e.g. Motor communication failure or motor driver exception).
10	`MOTOR_DAMPING`	Motors in damping mode. The motors apply passive damping without active control.

Interfaces

Publishers

`robot_state`

Type: raisin::raisin_interfaces::msg::RobotState
Header: raisin_interfaces/msg/robot_state.hpp
Members:
- timestamp (builtin_interfaces/Time): Current time. On a real robot this is the system clock; in simulation it is the world simulation time.
- actuator_states[] (ActuatorState[]): Array of actuator states. Each entry contains:
  - name (string): Joint name.
  - position (float64): Joint position.
  - velocity (float64): Joint velocity.
  - effort (float64): Joint torque.
  - status (uint16): Motor status word from the motor driver.
  - temperature (float64): Motor temperature.
- base_pos[3] (float64[3]): Base position [x, y, z].
- base_quat[4] (float64[4]): Base orientation quaternion [w, x, y, z].
- base_lin_vel[3] (float64[3]): Base linear velocity [x, y, z].
- base_ang_vel[3] (float64[3]): Base angular velocity [x, y, z].
- imu (Imu): IMU sensor reading.
  - quaternion_w, quaternion_x, quaternion_y, quaternion_z (float64): Orientation quaternion from the IMU.
  - angular_velocity_x, angular_velocity_y, angular_velocity_z (float64): Angular velocity measured by the IMU gyroscope.
  - linear_acceleration_x, linear_acceleration_y, linear_acceleration_z (float64): Linear acceleration measured by the IMU accelerometer.
- max_voltage (float64): Maximum allowed battery voltage.
- min_voltage (float64): Minimum allowed battery voltage.
- max_current (float64): Maximum allowed current.
- voltage (float64): Current battery voltage.
- current (float64): Current battery current.
- body_temperature (float64): Body temperature.
- state (int32): Current robot state, cast from raibo::State enum. See Robot State for the full list of values.
- joy_listen_type (int32): Active joystick source type, cast from SourceType enum.
  - 0 – JOY: Listening to joystick input.
  - 1 – VEL_CMD: Listening to velocity command input.
- joy_listen_state[] (JoyListen[]): Status of each joystick source. Each entry contains:
  - topic (string): topic name of the source.
  - network_id (string): Network identifier of the source publisher.
  - selected (bool): Whether this source is currently selected.
  - online (bool): Whether this source is currently connected.
Note

The currently active command source is the entry in joy_listen_state whose type matches joy_listen_type and whose selected field is True. For more information, see Joy Interface.

`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 the motor control.

`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

Robot State

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`