System & Maintenance
Manage the device itself: power state, time, software restarts, error recovery, and ROS introspection.
Wake Up the Device
Wakes the robot from its sleep state. If the robot is already awake, this command has no effect.
curl -X POST http://192.168.25.25:8090/services/wake_up_device
Monitor the Sensor Manager State WebSocket topic for sleep, awake, or awakening status.
Restart Services
Restarts all software services on the robot.
curl -X POST \
-H "Content-Type: application/json" \
http://192.168.25.25:8090/services/restart_service
Shutdown or Reboot the Device
curl -X POST \
-H "Content-Type: application/json" \
-d '{"target": "main_power_supply", reboot: false}' \
http://192.168.25.25:8090/services/baseboard/shutdown
Parameters
class ShutdownRequest {
target:
| "main_computing_unit" // Reboot or shutdown only the main computing board.
| "main_power_supply"; // Reboot or shutdown the entire device.
reboot: boolean; // true to reboot, false to shutdown.
}
Step Time
Use this service to correct the system time if it is inaccurate.
Warning
GET is used to detect time errors. Do not call it frequently. Use the WebSocket /alerts topic instead to monitor time errors.
curl http://192.168.25.25:8090/services/step_time
{
"should_step": false, // No need to correct time
"message": "there is no need to make step: system time is 0.000253560 seconds fast of NTP time"
}
POST is used to correct the time.
curl -X POST http://192.168.25.25:8090/services/step_time
{
"message": "Step time successfully"
}
Recheck Errors
POST /services/monitor_recheck_errors
Reset USB Devices
Resetting the USB hub can sometimes help recover malfunctioning hardware devices.
The format "1/3" represents the bus_id/dev_id in the device tree. For more information, see List USB Devices.
curl -X POST \
-H "Content-Type: application/json" \
-d '{"devices_to_reset": ["1/3", "8/1"]}' \
http://192.168.25.25:8090/services/reset_usb_devices
Clear "System Down Unexpectedly" Alert
curl -X POST \
-H "Content-Type: application/json" \
http://192.168.25.25:8090/services/clear_system_down_unexpectedly
Clear "Range Data All Zero" Error
If all Lidar points return a value of 0, it indicates that the Lidar device is malfunctioning or failing.
This service temporarily clears the associated error message.
curl -X POST \
-H "Content-Type: application/json" \
http://192.168.25.25:8090/services/clear_range_data_all_zero_error
Clear Fall Risk Warning
curl -X POST http://192.168.25.25:8090/services/clear_fall_risk_warning
Topic List
Lists all currently published ROS topics with type, publisher count, and subscriber count. Queries the ROS master directly.
Route
GET /ros/rosmaster/topics
Request
No parameters, no request body.
Response
ros_messages.TopicListResponse — repeated TopicInfo (name, type, publisher_count, subscriber_count). Only topics with at least one publisher are included.
See topics.proto.
Cache behavior
Cache-Control: no-cache — topic state is dynamic; no ETags.
Example
# protobuf (default)
curl http://192.168.25.25:8090/ros/rosmaster/topics | protoc --decode_raw
# JSON
curl -H "Accept: application/json" \
http://192.168.25.25:8090/ros/rosmaster/topics | jq .
{
"topics": [
{
"name": "/tf",
"type": "tf2_msgs/TFMessage",
"publisher_count": 1,
"subscriber_count": 3
}
]
}
Published Topic Names
Returns only the names of topics that have at least one publisher.
Route
GET /ros/rosmaster/topics/published_names
Request
No parameters, no request body.
Response
ros_messages.PublishedTopicNamesResponse — repeated names fields.
See topics.proto.
Cache behavior
Cache-Control: no-cache — topic state is dynamic.
Example
# protobuf (default)
curl http://192.168.25.25:8090/ros/rosmaster/topics/published_names | protoc --decode_raw
# JSON
curl -H "Accept: application/json" \
http://192.168.25.25:8090/ros/rosmaster/topics/published_names | jq .
{
"names": ["/tf", "/scan", "/odom"]
}