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‎docs/en/Guide/R1/R1_Software_Guide_ros1.md‎

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</tbody>
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</table>
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Arm services such as enable/disable/calibration/contro mode switch can be processed by the following interfaces:
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<table style="width: 100%; border-collapse: collapse;">
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<thead>
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<tr style="background-color: black; color: white; text-align: left;">
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<th style="width: 200px; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 300px;">Topic Name</th>
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<th style="width: 300px; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 100px;">I/O</th>
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<th style="width: 300px; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 300px;">Description</th>
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<th style="width: 300px; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 300px;">Message Type</th>
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</tr>
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</thead>
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<tbody>
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<tr style="background-color: white; text-align: left;">
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<td style="padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_left_arm</td>
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<td style="padding: 8px; border: 1px solid #ddd;">Input</td>
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<td style="padding: 8px; border: 1px solid #ddd;">Arm function frame</td>
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<td style="padding: 8px; border: 1px solid #ddd;">hdas_msg/FunctionFrame</td>
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</tr>
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<tr style="background-color: white; text-align: left;">
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<td style="padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_right_arm</td>
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<td style="padding: 8px; border: 1px solid #ddd;">Input</td>
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<td style="padding: 8px; border: 1px solid #ddd;">Arm function frame</td>
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<td style="padding: 8px; border: 1px solid #ddd;">hdas_msg/FunctionFrame</td>
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</tr>
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</tbody>
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</table>
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The specific fields and their detailed descriptions for the above topic are shown in the table below:
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<table style="width: 100%; border-collapse: collapse;">
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</tbody>
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</table>
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手臂服务接口：
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<table style="width: 100%; border-collapse: collapse;">
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<thead>
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<tr>
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<th style="background-color: black; color: white; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 200px;">Topic Name</th>
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<th style="background-color: black; color: white; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 200px;">Field</th>
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<th style="background-color: black; color: white; vertical-align: middle; padding: 8px; border: 1px solid #ddd;width: 600px;">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr style="background-color: white;">
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_left_arm</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">command</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">1: enable<br>2: disable<br>3: calibration for the whole arm<br>4: clear error<br>5: MIT control mode<br>6: PID control mode</td>
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</tr>
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<tr style="background-color: white;">
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_right_arm</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">command</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">1: enable<br>2: disable<br>3: calibration for the whole arm<br>4: clear error<br>5: MIT control mode<br>6: PID control mode</td>
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</tr>
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</tbody>
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</table>
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***Joint Motor Control Interface Description**
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- `/hdas/feedback_status_arm_left `

‎docs/en/Guide/R1Pro/R1Pro_Unbox_Startup_Guide.md‎

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roslaunch mobiman r1_pro_chassis_control.launch
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```
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#### 4.5.3 Joystick Controller Operation
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#### 4.5.3 Host Computer Control
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Press `Ctrl + B` then `C` to create a new terminal. Then, execute the following conmand.
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```bash
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source {your_download_path}/install/setup.bash
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cd {your_download_path}/install/share/mobiman/script
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python3 r1pro_test_open_box.py
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```
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Enter `5` then press `Enter`, R1 Pro will stand; enter `q`to quit the demo script.
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![R1Pro_4.5.3_torso_control_5](assets/unbox/R1Pro_4.5.3_torso_control_5.png)
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<!-- #### 4.5.3 Joystick Controller Operation
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<span style="color:red"> Note: Before any operation, ensure all switches (SWA/SWB/SWC/SWD) are in the top position. </span>This will keep the machine stopped and prevent robot operation. For more detailed operation information, refer to the remote controller guide in the Getting Started.
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1. To turn the controller on/off, hold the two power buttons until the touch screen lights on/off.
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2. Move the SWA switch to the bottom and the SWB switch to the middle.
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3. Keep the SWC switch and the SWD switch in the top position.
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4. Move the left joystick to the top-left and the right joystick to the top-right simultaneously as shown in the figure below. Wait for 3 seconds, and R1 will stand up.
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![R1Pro_4.5.3_controller_stand](./assets/unbox/R1Pro_4.5.3_controller_stand.png)
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![R1Pro_4.5.3_controller_stand](./assets/unbox/R1Pro_4.5.3_controller_stand.png) -->
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‎docs/en/Guide/R1Pro/assets/unbox/R1Pro_4.4_1stcheck.png‎

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‎docs/en/Guide/R1Pro/assets/unbox/R1Pro_4.5.3_torso_control_5.png‎

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‎docs/en/Guide/R1Pro/assets/unbox/R1Pro_7_demo.png‎

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‎docs/zh/Guide/R1/R1_Software_Guide_ros1.md‎

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</tbody>
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</table>
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手臂使能/失能/标定/控制模式切换可通过以下服务接口进行控制：
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<table style="width: 100%; border-collapse: collapse;">
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<thead>
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<tr style="background-color: black; color: white; text-align: left;table-layout: fixed;">
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<th style="width: 300px; padding: 8px; border: 1px solid #ddd;">服务名称</th>
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<th style="width: 100px; padding: 8px; border: 1px solid #ddd;">I/O</th>
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<th style="width: 200px; padding: 8px; border: 1px solid #ddd;">描述</th>
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<th style="width: 200px; padding: 8px; border: 1px solid #ddd;">消息类型</th>
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</tr>
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</thead>
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<tbody>
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<tr style="background-color: white; text-align: left;">
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<td style="padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_left_arm</td>
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<td style="padding: 8px; border: 1px solid #ddd;">Input</td>
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<td style="padding: 8px; border: 1px solid #ddd;">机械臂功能帧</td>
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<td style="padding: 8px; border: 1px solid #ddd;">hdas_msg/FunctionFrame</td>
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</tr>
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<tr style="background-color: white; text-align: left;">
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<td style="padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_right_arm</td>
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<td style="padding: 8px; border: 1px solid #ddd;">Input</td>
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<td style="padding: 8px; border: 1px solid #ddd;">机械臂功能帧</td>
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<td style="padding: 8px; border: 1px solid #ddd;">hdas_msg/FunctionFrame</td>
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</tr>
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</tbody>
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</table>
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针对以上话题的具体字段及其详细描述如下表所示：
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<thead>
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</tbody>
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手臂服务接口：
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<table style="width: 100%; border-collapse: collapse;">
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<thead>
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<tr>
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<th style="background-color: black; color: white; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 200px;">话题名称</th>
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<th style="background-color: black; color: white; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 200px;">字段</th>
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<th style="background-color: black; color: white; vertical-align: middle; padding: 8px; border: 1px solid #ddd; width: 600px;">描述</th>
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</tr>
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</thead>
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<tbody>
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<tr style="background-color: white;">
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_left_arm</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">command</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">1: 使能<br>2: 失能<br>3: 整臂标定<br>4: 清除错误<br>5: MIT<br>6: PID</td>
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</tr>
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<tr style="background-color: white;">
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/hdas/function_frame_right_arm</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">command</td>
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<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">1: 使能<br>2: 失能<br>3: 整臂标定<br>4: 清除错误<br>5: MIT<br>6: PID</td>
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</tr>
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</tbody>
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</table>
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**机械臂关节电机控制接口说明**
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‎docs/zh/Guide/R1Pro/R1Pro_Unbox_Startup_Guide.md‎

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roslaunch mobiman r1_pro_chassis_control.launch
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#### 4.5.3 遥控器操作
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#### 4.5.3 上位机控制
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按下`Ctrl + B`然后按`C`创建一个新终端，执行以下脚本。
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```bash
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source {your_download_path}/install/setup.bash
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cd {your_download_path}/install/share/mobiman/script
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python3 r1pro_test_open_box.py
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```
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输入`5`然后按下`Enter`，R1 Pro将站立，按`q`即可退出Demo脚本。
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![R1Pro_4.5.3_torso_control_5_cn](assets/unbox/R1Pro_4.5.3_torso_control_5_cn.png)
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<!-- #### 4.5.3 遥控器操作
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<span style="color:red"> 注意：在进行任何操作之前，请确保所有开关（SWA/SWB/SWC/SWD）都处于顶部位置。</span>这将使机器处于停止状态，防止R1 Pro误操作。如果需要获取更多详细操作信息，请参阅Galaxea R1 Pro用户指南中的遥控器指南。
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1. 要开启/关闭控制器，请按住两个电源按钮，直到触摸屏亮起/熄灭。
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3. 保持长拨杆SWC和短拨杆SWD在上方。
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4. 同时将左操纵杆移至左上角，右操纵杆移至右上角（如下图所示）。等待3秒钟，**R1 Pro即可站立。**
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![R1Pro_4.5.3_controller_stand_cn](./assets/unbox/R1Pro_4.5.3_controller_stand_cn.png)
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![R1Pro_4.5.3_controller_stand_cn](./assets/unbox/R1Pro_4.5.3_controller_stand_cn.png) -->
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## 5. 安装手臂

‎docs/zh/Guide/R1Pro/assets/unbox/R1Pro_2.1_2.2_unlock_cn.png‎

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‎docs/zh/Guide/R1Pro/assets/unbox/R1Pro_4.4_1stcheck_cn.png‎

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‎docs/zh/Guide/R1Pro/assets/unbox/R1Pro_4.5.3_torso_control_5_cn.png‎

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