Developers can conveniently access robot status, send control commands, and implement complex task programming and integration through standard ROS 2 communication mechanisms, including Topics, Services, and Actions.

• Topic: A subscription‑based communication mechanism. Subscribers register for a specific topic, and publishers send messages to all registered subscribers based on the subscription list. This mechanism is primarily used for medium‑to‑high frequency or continuous data exchange.

• Service: A request‑reply communication mechanism. Data retrieval or operations are performed via service requests. It is suitable for low‑frequency interactions or mode‑switching operations.

• Action: A persistent, stateful communication mechanism designed for long‑running tasks. It supports real‑time status feedback and task cancellation during execution, making it ideal for complex motion control and task execution.

Interface Description

Topic	/supervisor/system_status
Effective Version	≥V0.2
Access Method	Publish
Interface Description	The system monitoring node (supervisor) publishes the current operating status of the robot system in real time, including the current mode and the boot startup mode Use the custom supervisor_interfaces/msg/SystemStatus message format
Interface Parameters	current_mode: Current system mode Use the custom supervisor_interfaces/msg/SystemMode message format uint8 mode{ // Mode value, enumeration 0; // Undefined 1; // Automatic 2; // Remote operation 3; // Mapping 4; // ACT 99; // On standby, all services stopped } string mode_name{ // Mode name "UNDEFINED"; // Undefined "TELEOPERATION"; // Teleoperation mode "MAPPING"; // Mapping Mode "AUTONOMOUS"; // Automatic Mode "ACT"; // Specific operating mode "STANDBY"; // Standby mode, all services stopped }
	startup_mode: The initial state when the system starts up Use the custom supervisor_interfaces/msg/SystemMode message format uint8 mode{ // Mode value, enumeration 0; // Undefined 1; // Automatic 2; // Remote operation 3; // Mapping 4; // ACT 99; // On standby, all services stopped } string mode_name{ // Mode name "UNDEFINED"; // Undefined "TELEOPERATION"; // Teleoperation mode "MAPPING"; // Mapping Mode "AUTONOMOUS"; // Automatic Mode "ACT"; // Specific operating mode "STANDBY"; // Standby mode, all services stopped }

Topic	/supervisor/change_system_mode
Effective Version	≥V0.2
Access Method	Action Use the custom supervisor_interfaces/action/ChangeSystemMode message format
Interface Description	Switch the current system mode
Interface Parameters	Goal: The request sent by the Client to the Server, containing two fields target_mode{ // The target mode value to switch to Use the custom supervisor_interfaces/msg/SystemMode message format 1; // Automatic 2 ; // Remote operation 3; // Mapping 4; //ACT } bool startup: Whether to set it to start automatically upon boot, false indicates not starting automatically upon boot, true indicates starting automatically upon boot
	Result: The result returned to the Client after the server has completed execution, containing two fields bool success: Whether the mode switch was successful, false indicates the mode was not switched, true indicates the mode switch was successful string message: Descriptive information about the execution result of mode switching, such as "Successfully switched to automatic mode"
	Feedback: Progress feedback sent periodically by the server to the Client during execution, containing two fields float32 progress: Progress of mode switching, with a value range of [0.0, 100.0] string status: A real-time status description of the current execution switch, such as "Currently shutting down the current service"

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