DDS topics·
60s, ref
All rt/* topics currently discoverable on the G1 CycloneDDS domain.
subscribe (read-only from our side)·
| Topic | Rate | Type | Content |
|---|---|---|---|
rt/lowstate |
500 Hz | LowState_ |
IMU + 29 motor states (q, dq, tau, temp, V) |
rt/bmsstate / rt/lf/bmsstate |
1 Hz | BmsState_ |
SOC, SOH, voltage, current, cycles |
rt/multiplestate |
50 Hz | LowState_ |
Combined state (FSM id, mode, balance, stand height) |
rt/inspire/state |
50 Hz | HandState_ |
Inspire hand finger positions |
rt/head/cam/image_color (?) |
- | - | head cam RGB, NOT in codebase; verify live via g1_dds_discover() before use |
rt/utlidar/cloud_livox_mid360 |
10 Hz | PointCloud2_ |
Livox Mid-360 point cloud |
rt/lf/lowstate |
low-freq | LowState_ |
Low-freq LowState variant |
rt/lf/secondary_imu |
low-freq | LowState_ |
Secondary IMU |
rt/lf/sportmodestate |
silent | SportModeState_ |
declared; no samples seen on the G1 (2026-10-01), use rt/odommodestate |
rt/mainboardstate |
1 Hz | MainBoardState_ |
Fan / board temps |
rt/pressuresensorstate |
50 Hz | PressSensorState_ |
Foot pressure sensors |
rt/wirelesscontroller |
on-event | WirelessController_ |
Remote joystick (silent if unpaired) |
rt/odommodestate (also rt/lf/odommodestate) |
live | SportModeState_ |
position[3] in the odom frame, velocity[3], imu rpy: the odometry g1_walk_forward / g1_turn read before and after a command (G1_ODOM_TOPIC overrides) |
rt/odom |
silent | Odometry_ |
declared, no samples seen on the G1 (2026-10-01) |
rt/unitree_slam/odom |
- | Odometry_ |
Unitree SLAM odometry |
rt/unitree_slam/global_map |
- | PointCloud2_ |
Unitree SLAM global map |
rt/utlidar/lidar_state |
- | LidarState_ |
LiDAR sensor state |
RPC request/response·
Every Client class in the SDK maps to a pair:
| Service | Request | Response |
|---|---|---|
LocoClient |
rt/api/loco/request |
rt/api/loco/response |
G1ArmActionClient |
rt/api/arm/request |
rt/api/arm/response |
AudioClient |
rt/api/audio/request |
rt/api/audio/response |
MotionSwitcherClient |
rt/api/motion_switcher/request |
rt/api/motion_switcher/response |
VuiClient |
rt/api/vui/request |
rt/api/vui/response |
RobotStateClient |
rt/api/robot_state/request |
rt/api/robot_state/response |
Payload: {"api_id": int, "parameter": str_json, "priority": int} → response {"code": int, "data": str_json}.
publish (dangerous, need unsafe=True via g1_dds_publish)·
| Topic | Type | What |
|---|---|---|
rt/lowcmd |
LowCmd_ |
direct motor torques, will collapse the robot if misused |
rt/armsdk |
LowCmd_ |
arm gesture id (single-writer, use g1_arm_action) |
rt/bmscmd |
BmsCmd_ |
battery commands |
rt/inspire/cmd |
HandCmd_ |
Inspire hand commands |
rt/user_lowcmd |
LowCmd_ |
user low-level cmd |
rt/utlidar/switch |
String_ |
LiDAR ON/OFF switch (use g1_lidar_switch) |
discover live·
g1_dds_list_topics() is the curated catalog above; g1_dds_discover() scans
the live bus; g1_dds_snapshot(topic) decodes one sample. See use_dds.
DDS config·
- CycloneDDS config:
/home/unitree/cyclonedds_ws/cyclonedds.xml - Interface: eth0 (not eth1, not WiFi, those don't see the motor bus)
- Domain: 0
- Env:
CYCLONEDDS_URI=file:///home/unitree/cyclonedds_ws/cyclonedds.xml
env.sh in the repo sets this automatically.
SDK types·
IDL types live under unitree_sdk2_python/unitree_sdk2py/idl/; LowState_,
LowCmd_, BmsState_, HandState_ and SportModeState_ cover every topic above.