Sensor Status Information

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

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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.