Sirius — inventaire des capteurs
date   : 2026-07-25T23:37:24+08:00
hôte   : hengbot

══ Environnement ROS
  ok      /opt/ros/humble/setup.bash
  ok      /root/sirius_ros2/install/setup.bash
  RMW=rmw_cyclonedds_cpp  URI=file:///root/cyclonedds.xml
  ros2    /opt/ros/humble/bin/ros2

══ Nœuds actifs
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/action_player_node
/ai_interaction_node
/behavior_engine_node
/ble_control_server
/camera_publisher_node
/camera_publisher_node
/character_state_node
/core_api_node
/core_api_node
/face_detection_bridge
/fan_controller_node
/imu_onbody
/internal_sensor_battery_onbody
/lifecycle_manager_node
/lvgl_gui_node
/modbus_driver
/motor_torque_controller_node
/network_config_node
/ota_update_node
/perception_bridge_node
/production_test_node
/robot_led_controller_node
/sirius_bt
/sirius_gamepad
/sirius_motion_control_node
/state_sensor_tof_node
/sync_manager_node
/user_data_manager
/user_interface_udp_server_node
/wmix_audio_player_node
/xbox_bluetooth_gamepad

══ Tous les topics (avec leur type)
/action_player/action_completed [std_msgs/msg/String]
/action_player/current_playing_file [std_msgs/msg/String]
/action_player/current_posture [std_msgs/msg/String]
/ai_interaction/clear_character_history [std_msgs/msg/Empty]
/ai_interaction/lease_gray [std_msgs/msg/String]
/ai_interaction/reload_character [std_msgs/msg/Empty]
/ai_interaction/reload_creds [std_msgs/msg/Empty]
/ai_interaction/session_active [std_msgs/msg/Bool]
/ai_interaction/state [std_msgs/msg/String]
/ai_interaction/text_input [std_msgs/msg/String]
/ai_interaction/trigger [std_msgs/msg/Bool]
/ai_interaction/turn_output [std_msgs/msg/String]
/ai_interaction/voice_trigger_enabled [std_msgs/msg/Bool]
/ai_interaction/voice_trigger [std_msgs/msg/Bool]
/ai/state [std_msgs/msg/String]
/audio_frame [audio_msg/msg/AudioFrame]
/audio_player/play [std_msgs/msg/String]
/audio_record [audio_msg/msg/AudioFrame]
/behavior/result [sirius_msg/msg/BehaviorResult]
/ble_control/status [std_msgs/msg/String]
/bluetooth_connected [std_msgs/msg/Bool]
/bluetooth_scan_state [std_msgs/msg/Bool]
/bluetooth_status [std_msgs/msg/String]
/boot/wake_gesture [sirius_msg/msg/WakeGesture]
/boot/wake_ready [std_msgs/msg/Bool]
/bt/cmd [std_msgs/msg/String]
/bt/found [sirius_msg/msg/BtDevice]
/bt/pair_window_state [std_msgs/msg/String]
/bt/status [sirius_msg/msg/BtDevice]
/camera/image_compressed [sensor_msgs/msg/CompressedImage]
/character/state [sirius_msg/msg/CharacterState]
/debug/resleep [std_msgs/msg/Empty]
/device_modbus/read_buffer_view [std_msgs/msg/UInt16MultiArray]
/device_modbus/write_buffer_topic [sirius_msg/msg/WriteModbusBufferArray]
/device_modbus/write_buffer_view [std_msgs/msg/UInt16MultiArray]
/dog/awake [std_msgs/msg/Bool]
/emotion_manager/emotion_value [emotion_manager/msg/EmotionValue]
/emotion_manager/fatigue_status [std_msgs/msg/Float32]
/emotion_manager/gesture_event [std_msgs/msg/String]
/emotion_manager/toilet_desire [std_msgs/msg/Float32]
/emotion_manager/toilet_event [std_msgs/msg/String]
/esp32/firmware_version [std_msgs/msg/String]
/face_detection/roi [ai_msgs/msg/Roi]
/face_tracker/body_pose_channel1 [geometry_msgs/msg/Point]
/face_tracker/control [std_msgs/msg/String]
/face_tracker/head_pose_channel1 [geometry_msgs/msg/Point]
/fan_breathing/cpu_temp [std_msgs/msg/Float32]
/fan_breathing/enable [std_msgs/msg/Bool]
/fan_breathing/speed [std_msgs/msg/Float32]
/fan/duty [std_msgs/msg/Int32]
/fan/mode [std_msgs/msg/String]
/fan/state [std_msgs/msg/String]
/gait_analysis/visualization [visualization_msgs/msg/MarkerArray]
/gait_generation_trot/cmd_vel [geometry_msgs/msg/Twist]
/gait_generation_trot/filtered_velocity [geometry_msgs/msg/Twist]
/gait_generation_trot/motion_mode [sirius_msg/msg/MotionMode]
/gait_generation_trot/target/back_left_foot [geometry_msgs/msg/Point]
/gait_generation_trot/target/back_right_foot [geometry_msgs/msg/Point]
/gait_generation_trot/target/front_left_foot [geometry_msgs/msg/Point]
/gait_generation_trot/target/front_right_foot [geometry_msgs/msg/Point]
/gamepad/body_position_request [geometry_msgs/msg/Point]
/gamepad/control_active [std_msgs/msg/Bool]
/hobot_mono2d_body_detection [ai_msgs/msg/PerceptionTargets]
/image_raw [sensor_msgs/msg/Image]
/internal_sensor/battery_onbody/battery_publisher/state [sensor_msgs/msg/BatteryState]
/internal_sensor/battery_onbody/diagnostics [diagnostic_msgs/msg/DiagnosticStatus]
/joy [sensor_msgs/msg/Joy]
/kinematics/fk_publisher [sirius_msg/msg/SiriusPose]
/kinematics/ik_publisher/pose_view [sirius_msg/msg/SiriusPose]
/kinematics/ik_subscriber/body_euler_channel1 [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/body_pose [geometry_msgs/msg/Pose]
/kinematics/ik_subscriber/body_position_channel1 [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/head_euler_follow [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/head_quaternion [geometry_msgs/msg/Quaternion]
/kinematics/ik_subscriber/left_back_point_channel1 [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/left_back_point [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/left_front_point_channel1 [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/left_front_point [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/pose [sirius_msg/msg/SiriusPose]
/kinematics/ik_subscriber/right_back_point_channel1 [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/right_back_point [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/right_front_point_channel1 [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/right_front_point [geometry_msgs/msg/Point]
/kinematics/ik_subscriber/workspace_diag [std_msgs/msg/String]
/lifecycle_manager/current_mode [std_msgs/msg/String]
/lifecycle_manager_node/current_mode [std_msgs/msg/String]
/lifecycle_manager_node/node_states [std_msgs/msg/String]
/lifecycle_manager_node/system_metrics [std_msgs/msg/String]
/lvgl_gui/lottie_play [std_msgs/msg/String]
/lvgl_gui_node/touch_state [lvgl_ros2_gui/msg/TouchState]
/lvgl_layer [std_msgs/msg/String]
/mqtt/credentials [std_msgs/msg/String]
/mqtt/status [std_msgs/msg/String]
/network/hotspot_status [sirius_msg/msg/HotspotStatus]
/network/info [sirius_msg/msg/NetworkInfo]
/network/qrcode [sirius_msg/msg/QRCodeData]
/network/status [sirius_msg/msg/NetworkStatus]
/ota/log [std_msgs/msg/String]
/ota/progress [std_msgs/msg/Float32]
/ota/server_config [std_msgs/msg/String]
/ota/status [std_msgs/msg/String]
/parameter_events [rcl_interfaces/msg/ParameterEvent]
/perception/event [sirius_msg/msg/PerceptionEvent]
/robot_behavior/status [std_msgs/msg/String]
/robot_led_controller/led_colors [std_msgs/msg/String]
/rosout [rcl_interfaces/msg/Log]
/scs_config/motor_mode_status [device_modbus_node/msg/MotorModeStatus]
/state_sensor/imu_onbody/imu_publisher/diagnostic [diagnostic_msgs/msg/DiagnosticStatus]
/state_sensor/imu_onbody/imu_publisher/imu_angle [geometry_msgs/msg/Vector3]
/state_sensor/imu_onbody/imu_publisher/imu_data [sensor_msgs/msg/Imu]
/state_sensor/tof/distance_array [state_sensor_tof/msg/ToFDistanceArray]
/state_sensor/tof/heatmap [sensor_msgs/msg/Image]
/sync_manager/execute [sync_manager_node/msg/SyncCommand]
/system/behavior_pause [std_msgs/msg/String]
/system/enable_random_action [std_msgs/msg/Bool]
/system/enable_thermal_protection [std_msgs/msg/Bool]
/system/orchestration_mode [std_msgs/msg/Bool]
/udp_server/status [std_msgs/msg/UInt8]
/ui_events [std_msgs/msg/String]
/user_data_manager/language_changed [std_msgs/msg/String]
/user_data_manager/theme_changed [std_msgs/msg/UInt8]
/wmix_audio_player/play_sound [std_msgs/msg/String]

══ → candidats DISTANCE / PROFONDEUR (ToF)
/bluetooth_scan_state [std_msgs/msg/Bool]
/state_sensor/tof/distance_array [state_sensor_tof/msg/ToFDistanceArray]
/state_sensor/tof/heatmap [sensor_msgs/msg/Image]

══ → candidats ATTITUDE (IMU)
/state_sensor/imu_onbody/imu_publisher/diagnostic [diagnostic_msgs/msg/DiagnosticStatus]
/state_sensor/imu_onbody/imu_publisher/imu_angle [geometry_msgs/msg/Vector3]
/state_sensor/imu_onbody/imu_publisher/imu_data [sensor_msgs/msg/Imu]

══ → candidats CHUTE / SÉCURITÉ
(aucun)

══ Paquets de messages maison
· sirius_msg
    sirius_msg/action/ExecuteIntent
    sirius_msg/msg/NetworkStatus
    sirius_msg/srv/SetModbusWriteBufferArray
    sirius_msg/msg/CharacterState
    sirius_msg/msg/WakeGesture
    sirius_msg/srv/BtScan
    sirius_msg/msg/QRCodeData
    sirius_msg/srv/SetMotorTorque
    sirius_msg/msg/RobotPlayingStatus
    sirius_msg/srv/PauseModbusDriver
    sirius_msg/msg/BehaviorResult
    sirius_msg/srv/BluetoothScan
    sirius_msg/srv/BtPair
    sirius_msg/srv/StartNetworkConfig
    sirius_msg/msg/NetworkInfo
    sirius_msg/srv/NetworkConnect
    sirius_msg/srv/SetSparkyMode
    sirius_msg/srv/NetworkForget
    sirius_msg/srv/LedControl
    sirius_msg/msg/WriteModbusBufferArray
    sirius_msg/msg/BtDevice
    sirius_msg/msg/MotionMode
    sirius_msg/msg/HotspotStatus
    sirius_msg/srv/WriteScsRegister
    sirius_msg/action/PlayMotion
    sirius_msg/srv/HotspotControl
    sirius_msg/msg/SiriusPose
    sirius_msg/srv/UniversalControl
    sirius_msg/msg/PerceptionEvent
    sirius_msg/srv/HotspotStatus
    sirius_msg/srv/NetworkGetSaved
    sirius_msg/srv/ReadScsRegister
    sirius_msg/srv/CaptureJpeg
    sirius_msg/srv/NetworkScan
· sirius_msgs
    Unknown package 'sirius_msgs'
· ai_msgs
    ai_msgs/msg/PerceptionTargets
    ai_msgs/msg/Point
    ai_msgs/msg/CaptureTargets
    ai_msgs/msg/Perf
    ai_msgs/msg/PerceptionInfo
    ai_msgs/msg/Roi
    ai_msgs/msg/Attribute
    ai_msgs/msg/Target
    ai_msgs/msg/DBResult
    ai_msgs/msg/Capture
· hobot_msgs
    Unknown package 'hobot_msgs'

══ Échantillon — /bluetooth_scan_state
(rien reçu en 6s — topic déclaré mais silencieux)

══ Échantillon — /state_sensor/tof/distance_array
header:
  stamp:
    sec: 1784993882
    nanosec: 117174627
  frame_id: tof_sensor
distances:
- 19
- 26
- 35
- 29
- 29
- 25
- 30
- 37
- 29
- 52
- 51
- 31
- 31
- 33
- 32
- 32
valid:
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
- true
raw_registers:
(rien reçu en 6s — topic déclaré mais silencieux)

══ Échantillon — /state_sensor/tof/heatmap
header:
  stamp:
    sec: 1784993887
    nanosec: 686975003
  frame_id: tof_sensor
height: 4
width: 4
encoding: mono16
is_bigendian: 0
step: 8
data:
- 27
- 0
- 39
- 0
- 41
- 0
- 32
- 0
- 34
- 0
- 39
- 0
- 38
- 0
- 42
- 0
- 255
- 7
- 56
- 0
- 255
- 7
- 255
- 7
- 32
- 0
- 35
- 0
- 33

══ Échantillon — /state_sensor/imu_onbody/imu_publisher/diagnostic
level: "\0"
name: imu
message: IMU sensor is operating normally
hardware_id: ''
values: []
---
(rien reçu en 6s — topic déclaré mais silencieux)

══ Échantillon — /state_sensor/imu_onbody/imu_publisher/imu_angle
(rien reçu en 6s — topic déclaré mais silencieux)

══ Bus I²C — le ToF est-il visible en direct ?
  /dev/i2c-0
  /dev/i2c-1
  /dev/i2c-3
  /dev/i2c-5
· bus 0
         0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
    00:                         -- -- -- -- -- -- -- -- 
    10: -- -- -- -- -- UU -- -- -- -- UU -- -- -- -- -- 
    20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    70: -- -- -- -- -- -- -- --                         
· bus 1
         0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
    00:                         -- -- -- -- -- -- -- -- 
    10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    70: -- -- -- -- -- -- -- --                         
· bus 3
         0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
    00:                         -- -- -- -- -- -- -- -- 
    10: 10 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    70: -- -- -- -- -- -- -- --                         
· bus 5
         0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
    00:                         -- -- -- -- -- -- -- -- 
    10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- UU -- 
    20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    30: -- -- -- -- -- -- -- -- -- -- -- 3b -- -- -- -- 
    40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
    70: -- -- -- -- -- -- -- --                         
  Repères : 0x29 ou 0x52 = famille VL53L0X/L1X/L5CX/L8CX (ToF)
            0x68 / 0x69  = IMU (MPU-6050, ICM-20948…)

══ Périphériques I²C déclarés par le noyau
  0-0015
  0-001a
  1-0038
  1-0045
  5-001e
  i2c-0
  i2c-1
  i2c-3
  i2c-5
  /sys/bus/i2c/devices/0-0015/name → cst816
  /sys/bus/i2c/devices/0-001a/name → wm8960
  /sys/bus/i2c/devices/1-0038/name → ft5406
  /sys/bus/i2c/devices/1-0045/name → hobot_bl_controller
  /sys/bus/i2c/devices/5-001e/name → hpu3501
  /sys/bus/i2c/devices/i2c-0/name → Hobot I2C adapter
  /sys/bus/i2c/devices/i2c-1/name → Hobot I2C adapter
  /sys/bus/i2c/devices/i2c-3/name → Hobot I2C adapter
  /sys/bus/i2c/devices/i2c-5/name → Hobot I2C adapter

══ Modules noyau liés à un capteur de distance
  (aucun module évident)

══ Périphériques iio (capteurs génériques Linux)
  iio:device0

══ Processus susceptibles de lire le ToF
  root        3912  0.0  0.6  49888 25680 ?        Ss   22:56   0:01 /usr/bin/python3 /opt/ros/humble/bin/ros2 run state_sensor_imu_onbody imu_publisher --ros-args -r __node:=imu_onbody
  root        3917  0.0  0.6  49888 25652 ?        Ss   22:56   0:01 /usr/bin/python3 /opt/ros/humble/bin/ros2 run state_sensor_tof state_sensor_tof_node --ros-args -r __node:=state_sensor_tof_node
  root        3922  0.0  0.6  49888 25616 ?        Ss   22:56   0:01 /usr/bin/python3 /opt/ros/humble/bin/ros2 run behavior_engine perception_bridge_node --ros-args -r __node:=perception_bridge_node
  root        3927  0.0  0.6  49892 25696 ?        Ss   22:56   0:01 /usr/bin/python3 /opt/ros/humble/bin/ros2 run internal_sensor_battery_onbody internal_sensor_battery_onbody --ros-args -r __node:=internal_sensor_battery_onbody
  root        4069  0.2  0.4 547128 17880 ?        Sl   22:56   0:06 /root/sirius_ros2/install/behavior_engine/lib/behavior_engine/perception_bridge_node --ros-args -r __node:=perception_bridge_node
  root        4070 11.7  0.4 546884 17680 ?        Sl   22:56   4:53 /root/sirius_ros2/install/state_sensor_tof/lib/state_sensor_tof/state_sensor_tof_node --ros-args -r __node:=state_sensor_tof_node
  root        4135 13.7  0.4 547028 16720 ?        Rl   22:56   5:43 /root/sirius_ros2/install/state_sensor_imu_onbody/lib/state_sensor_imu_onbody/imu_publisher --ros-args -r __node:=imu_onbody
  root        4165  7.9  0.4 547936 17596 ?        Sl   22:56   3:17 /root/sirius_ros2/install/internal_sensor_battery_onbody/lib/internal_sensor_battery_onbody/internal_sensor_battery_onbody --ros-args -r __node:=internal_sensor_battery_onbody

══ Exécutables ROS installés (repérage par nom)

action_compiler
ai_interaction_node
audio_recorder_node
bake_gif.py
behavior_engine_node
bt_node
camera_capture_node
camera_publisher_node
character_state_node
control_node
core_api_node
emotion_manager_node
face_detection_bridge
face_tracker
fan_controller_node
gait_analysis_node
gamepad_node
hey_sirius_wake_node
httplib
imu_publisher
internal_sensor_battery_onbody
libai_interaction_node_core.a
lifecycle_manager_node
lvgl_gui_node
modbus_driver
motion_control_with_action_node
motor_torque_controller_node
network_config_node
ota_update_node
perception_bridge_node
person_finder_node
picoclaw_bridge_node
production_test_node
provisioning_node
robot_behavior_controller_node
robot_led_controller_node
/root/sirius_ros2/install/action_player_node/lib/action_player_node/:
/root/sirius_ros2/install/ai_interaction_node/lib/ai_interaction_node/:
/root/sirius_ros2/install/behavior_engine/lib/behavior_engine/:
/root/sirius_ros2/install/ble_provisioning_server/lib/ble_provisioning_server/:
/root/sirius_ros2/install/ble_provisioning_server/lib/python3.10/:
/root/sirius_ros2/install/camera_publisher_ros/lib/camera_publisher_ros/:
/root/sirius_ros2/install/core_api_node/lib/cmake/:
/root/sirius_ros2/install/core_api_node/lib/core_api_node/:
/root/sirius_ros2/install/device_fan_controller/lib/device_fan_controller/:
/root/sirius_ros2/install/device_modbus_node/lib/device_modbus_node/:
/root/sirius_ros2/install/emotion_manager/lib/emotion_manager/:
/root/sirius_ros2/install/face_detection_bridge/lib/face_detection_bridge/:
/root/sirius_ros2/install/face_tracking/lib/face_tracking/:
/root/sirius_ros2/install/gait_generation_trot/lib/gait_generation_trot/:
/root/sirius_ros2/install/hey_sirius_wake/lib/hey_sirius_wake/:
/root/sirius_ros2/install/internal_sensor_battery_onbody/lib/internal_sensor_battery_onbody/:
/root/sirius_ros2/install/lifecycle_manager/lib/lifecycle_manager/:
/root/sirius_ros2/install/lvgl_ros2_gui/lib/lvgl_ros2_gui/:
/root/sirius_ros2/install/motor_torque_controller/lib/motor_torque_controller/:
/root/sirius_ros2/install/network_config_ros/lib/cmake/:
/root/sirius_ros2/install/network_config_ros/lib/network_config_ros/:
/root/sirius_ros2/install/ota_update_node/lib/ota_update_node/:
/root/sirius_ros2/install/person_finder/lib/person_finder/:

══ Comment lire ce rapport

  • Un topic de distance qui publie → déambulation faisable telle quelle.
  • Rien sur ROS mais une puce en 0x29/0x52 sur l'I²C → le ToF existe et
    n'est pas publié : il faut un petit nœud lecteur.
  • Ni l'un ni l'autre → le ToF est traité dans un binaire fermé du
    firmware. On se rabat sur la caméra.

── fin de l'inventaire ──