Message and service definitions used by robstride_hardware_interface.

Usually pulled in as a dependency of robstride_hardware_interface. To build it on its own:

cd ~/${WORKSPACE}/src
git clone https://github.com/kmj060703/robstride_interfaces.git

cd ~/${WORKSPACE}
colcon build --packages-select robstride_interfaces
source install/setup.bash

Published on ~/robstride_state every read() cycle.

std_msgs/Header header

int32 comm_state
int32[] id
bool[] enabled
int32[] run_state
uint32[] fault_bits

int32 COMM_STATE_OK = 0
int32 COMM_STATE_BUS_NOT_OPEN = -1
int32 COMM_STATE_SEND_FAIL = -2

• The four arrays are parallel, one entry per configured joint, in the same order as ros2_control's joint list.
• run_state: 0 reset, 1 calibration, 2 motor (torqued).
• fault_bits: bitfield; see robstride_sdk::FaultBit for bit meanings.

All served by robstride_hardware_interface under its own node namespace.

std_msgs/Header header
uint8 id
string item_name
float64 timeout_sec
---
float32 item_data
bool result

Reads one value from the already-decoded lock-free state: position, velocity, torque, temperature, run_state or fault_bits. There is no round trip to the motor, so timeout_sec is accepted but unused.

std_msgs/Header header
uint8 id
string item_name
float32 item_data
---
bool result

item_name of kp or kd updates that joint's gains, applied by the next write() cycle. Any other name is treated as a RobStride parameter index (hex or decimal) and sends a parameter write frame.

std_msgs/Header header
uint8 id
---
bool result

Sets one motor's mechanical zero at its current position.

std_msgs/Header header
uint8 id
---
bool result

Sends a Stop frame with the clear-fault flag set, telling the motor to drop a latched fault rather than stay disabled. write() keeps resending Enable to any joint that is not confirmed torqued, so the motor re-enables on its own once it accepts the clear.

Not a literal MCU reboot — the RobStride protocol has no such command. A motor whose MCU has genuinely hung needs a power cycle, and shows up as feedback staleness rather than a fault report.

Unconditional by design. The frame is always sent, whatever fault_bits currently shows. Whether a given fault is safe to clear and retry is a policy call for the caller: read fault_bits first and decide before calling.

Apache License 2.0.