rosbag2_bagfile_information:
  version: 5
  storage_identifier: mcap
  duration:
    nanoseconds: 12214070580
  starting_time:
    nanoseconds_since_epoch: 1784642465574231270
  message_count: 62151
  topics_with_message_count:
    - topic_metadata:
        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: 2354
    - 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: 13
    - 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: 13
    - 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: 13
    - 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: 2370
    - topic_metadata:
        name: /hdas/feedback_status_torso
        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: 13
    - 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: 2354
    - 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: 2354
    - topic_metadata:
        name: /hdas/feedback_chassis
        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: 2358
    - topic_metadata:
        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: 1212
    - 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: 2369
    - topic_metadata:
        name: /hdas/ccu_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: 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: 13
    - 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: 12
    - 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: 2364
    - 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: 13
    - 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: 366
    - 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: 2359
    - 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: 367
    - 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: 13
    - 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: 2387
    - 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: 2378
    - 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: 13
    - 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: 5558
    - 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: 2367
    - 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: 611
    - 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: 2386
    - 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: 2375
    - 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: 2373
    - 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: 2379
    - 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: 5546
    - 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: 2385
    - 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: 245
    - 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: 12
    - topic_metadata:
        name: /calib/head_right/camera_info
        type: sensor_msgs/msg/CameraInfo
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