Sensor Status Information

View the status of all sensors, and provide feedback of all sensors on any abnormalities, uninitialized conditions, and so on.

Topic：system/sensor_status

Msg Type：tita_system_msgs::msg::SensorStatus

Code Example：ros2 topic echo /[namespace]/system/sensor_status

Field Description

• header：Standard metadata for higher-level data types with timestamps. This field is used to convey timestamp and coordinate frame information.

• infrared_status：Status of the Infrared Sensor.

• ultrasonic_status：Status of the Ultrasonic Sensor.

• camera_status：Status of the Camera.

• left_motor_status：Status of the left motors. This is a list of the status of each motor in the left motor group.

• right_motor_status：Status of the right motors. This is a list of the status of each motor in the right motor group.

• temperature_humidity_status：Status of the Temperature and Humidity Sensors.

• controller_status：Status of the Controller.

• locomotion_status：Status of the Motion System.

Status Code

The status field in the message uses the following status codes:

• UNINITIALIZED = 0：Sensor or system is uninitialized.

• OK = 1：Sensor or system is functioning normally.

• ERROR = 2：Sensor or system has encountered an error.

• OFFLINE = 3：Sensor or system is offline.

locomotion_statusFields use different status codes.

• DIE = 0x00：The motion system has stopped.

• INIT = 0x01：The motion system is initializing.

• TRANSFORM_UP = 0x02：The motion system is transforming upwards.

• STAND = 0x03：The motion system is standing.

• TRANSFORM_DOWN = 0x04：The motion system is transforming downwards.

• CRASH = 0x05：The motion system has crashed.

• SUSPENDING = 0x06：The motion system is pausing.

• JUMP = 0x07：The motion system is jumping.

• UNINITIALIZED_STATUS = 0x08：The motion system is uninitialized.