6.1 Firmware Diagnostics

This describes how to check and diagnose the status of the RCU (Robot Control Unit) board.

Diagnostics via Dynamixel Wizard CLI

Note

This section will be updated in a future release.

Check Status via ROS 2 Interface

You can directly check control items on the RCU board through the ROS 2 interface without stopping the service. For item_name, enter the Name of a control item listed in 5.1 Control Table Types - RCU.

# Check battery level
ros2 service call /hw/direct_read antbot_interfaces/srv/DirectRead \
  "{item_name: 'Battery_Percentage'}"

# Check motor state
ros2 service call /hw/direct_read antbot_interfaces/srv/DirectRead \
  "{item_name: 'Motor_State'}"

# Check emergency stop state
ros2 service call /hw/direct_read antbot_interfaces/srv/DirectRead \
  "{item_name: 'Estop_State'}"