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| version: 5 | |
| storage_identifier: mcap | |
| duration: | |
| nanoseconds: 20467509553 | |
| starting_time: | |
| nanoseconds_since_epoch: 1784642748725713473 | |
| message_count: 105929 | |
| topics_with_message_count: | |
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| name: /hdas/feedback_torso | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4024 | |
| - topic_metadata: | |
| name: /hdas/feedback_status_arm_left | |
| type: hdas_msg/msg/FeedbackStatus | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /hdas/feedback_status_arm_right | |
| type: hdas_msg/msg/FeedbackStatus | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /hdas/feedback_left_arm_wrench | |
| type: geometry_msgs/msg/WrenchStamped | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 0 | |
| - topic_metadata: | |
| name: /calib/head_left/camera_info | |
| type: sensor_msgs/msg/CameraInfo | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /controller | |
| type: hdas_msg/msg/ControllerSignalStamped | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4007 | |
| - topic_metadata: | |
| name: /hdas/feedback_status_torso | |
| type: hdas_msg/msg/FeedbackStatus | |
| serialization_format: cdr | |
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| message_count: 20 | |
| - topic_metadata: | |
| name: /hdas/feedback_gripper_right | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4027 | |
| - topic_metadata: | |
| name: /motion_control/control_arm_right | |
| type: hdas_msg/msg/MotorControl | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4020 | |
| - topic_metadata: | |
| name: /hdas/feedback_chassis | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
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| message_count: 4036 | |
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| name: /hdas/imu_torso | |
| type: sensor_msgs/msg/Imu | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 2041 | |
| - topic_metadata: | |
| name: /motion_control/pose_floating_base | |
| type: geometry_msgs/msg/PoseStamped | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4028 | |
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| name: /hdas/ccu_version | |
| type: hdas_msg/msg/Version | |
| serialization_format: cdr | |
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| message_count: 0 | |
| - topic_metadata: | |
| name: /calib/arm_left/camera_info | |
| type: sensor_msgs/msg/CameraInfo | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /hdas/vcu_version | |
| type: hdas_msg/msg/Version | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /motion_target/target_speed_chassis | |
| type: geometry_msgs/msg/TwistStamped | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4024 | |
| - topic_metadata: | |
| name: /hdas/camera_wrist_left/aligned_depth_to_color/image_raw | |
| type: sensor_msgs/msg/Image | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 2\n nsec: 0\n avoid_ros_namespace_conventions: false" | |
| message_count: 0 | |
| - topic_metadata: | |
| name: /calib/arm_right/camera_info | |
| type: sensor_msgs/msg/CameraInfo | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /hdas/camera_wrist_left/color/image_raw/compressed | |
| type: sensor_msgs/msg/CompressedImage | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 2\n nsec: 0\n avoid_ros_namespace_conventions: false" | |
| message_count: 603 | |
| - topic_metadata: | |
| name: /hdas/feedback_gripper_left | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4039 | |
| - topic_metadata: | |
| name: /hdas/feedback_hand_right | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 0 | |
| - topic_metadata: | |
| name: /hdas/camera_head/left_raw/image_raw_color/compressed | |
| type: sensor_msgs/msg/CompressedImage | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 615 | |
| - topic_metadata: | |
| name: /motion_target/target_position_gripper_right | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 0 | |
| - topic_metadata: | |
| name: /hdas/tcu_version | |
| type: hdas_msg/msg/Version | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /motion_target/target_joint_state_arm_left | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4040 | |
| - topic_metadata: | |
| name: /motion_control/control_arm_left | |
| type: hdas_msg/msg/MotorControl | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4035 | |
| - topic_metadata: | |
| name: /calib/joint_bias | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /motion_control/control_gripper_left | |
| type: hdas_msg/msg/MotorControl | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 9634 | |
| - topic_metadata: | |
| name: /motion_control/chassis_speed | |
| type: geometry_msgs/msg/TwistStamped | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4036 | |
| - topic_metadata: | |
| name: /motion_control/control_chassis | |
| type: hdas_msg/msg/MotorControl | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 1025 | |
| - topic_metadata: | |
| name: /motion_control/pose_ee_arm_right | |
| type: geometry_msgs/msg/PoseStamped | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4046 | |
| - topic_metadata: | |
| name: /hdas/feedback_arm_left | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4045 | |
| - topic_metadata: | |
| name: /hdas/imu_chassis | |
| type: sensor_msgs/msg/Imu | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4035 | |
| - topic_metadata: | |
| name: /motion_control/control_torso | |
| type: hdas_msg/msg/MotorControl | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4037 | |
| - topic_metadata: | |
| name: /motion_control/control_gripper_right | |
| type: hdas_msg/msg/MotorControl | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 9605 | |
| - topic_metadata: | |
| name: /motion_target/target_joint_state_arm_right | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 4036 | |
| - topic_metadata: | |
| name: /sysmgr/task_takeover_status | |
| type: system_manager_msg/msg/TaskTakeoverStatus | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 0 | |
| - topic_metadata: | |
| name: /motion_target/target_position_gripper_left | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 409 | |
| - topic_metadata: | |
| name: /hdas/left_acu_version | |
| type: hdas_msg/msg/Version | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 20 | |
| - topic_metadata: | |
| name: /calib/head_right/camera_info | |
| type: sensor_msgs/msg/CameraInfo | |
| serialization_format: cdr | |
| offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" | |
| message_count: 21 | |
| - topic_metadata: | |
| name: /motion_target/target_joint_state_torso | |
| type: sensor_msgs/msg/JointState | |
| serialization_format: cdr | |
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| name: /hdas/camera_head/right_raw/image_raw_color/compressed | |
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| name: /hdas/feedback_hand_left | |
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| name: /hdas/feedback_right_arm_wrench | |
| type: geometry_msgs/msg/WrenchStamped | |
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| name: /motion_control/pose_ee_arm_left | |
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| name: /hdas/camera_wrist_right/aligned_depth_to_color/image_raw | |
| type: sensor_msgs/msg/Image | |
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| - R2026B63T0A9900010_20260721220547309_RAW_0.mcap | |
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