Marvin Pro ROS Topic List

This is the consolidated customer-visible ROS 2 topic reference for Apex Humble v1.0.7.74o / Jazzy v1.0.7.74t (2026-08-17) and later releases using the same interface contract. For safety, source arbitration, and service usage, see Marvin Pro Customer Integration Interfaces.

Access rules

• Customer input topics may be published only when the required mode and arbitration source are active.
• Read-only topics are for subscription, recording, and diagnostics only.
• Optional topics appear only when the matching Tool, Camera, Recorder, Playback, VLA, or glove module is running.
• The target device's ros2 topic list -t output is authoritative.

1. Namespace

Current Marvin Pro core interfaces use /tj. Legacy /control/..., /info/..., and /joint_states paths are not equivalent to their /tj/... replacements.

source /etc/apex/apex_ros_env.sh
ros2 topic list -t | grep -E '^/tj/|^/hand_|^/quad_tile/|^/info/apex_package_info' | sort

2. Robot State and Feedback

Topic	Type	Access	Description
/tj/joint_states	sensor_msgs/msg/JointState	Read-only	Standard joint state
/tj/info/joint_feedback	marvin_msgs/msg/Jointfeedback	Read-only	High-rate position, velocity, and torque feedback
/tj/info/arm_state	std_msgs/msg/Int16MultiArray	Read-only	Dual-arm state codes
/tj/info/robot_state	std_msgs/msg/Int16MultiArray	Read-only	Whole-robot control state
/tj/info/robot_info	marvin_msgs/msg/RobotInfo	Read-only	Robot and controller information
/tj/info/eef_left	geometry_msgs/msg/PoseStamped	Read-only	Left end-effector pose
/tj/info/eef_right	geometry_msgs/msg/PoseStamped	Read-only	Right end-effector pose
/tj/info/wrench_left	geometry_msgs/msg/WrenchStamped	Read-only	Left end-effector wrench
/tj/info/wrench_right	geometry_msgs/msg/WrenchStamped	Read-only	Right end-effector wrench
/tj/info/go_home_status	std_msgs/msg/String	Read-only	Planner / Home state
/info/apex_package_info	std_msgs/msg/String	Read-only, global	Apex package version

3. Headset and Teleoperation Input

Topic	Type	Access	Description
/tj/control/target_poseL	geometry_msgs/msg/PoseStamped	Read-only	VR left target pose
/tj/control/target_poseR	geometry_msgs/msg/PoseStamped	Read-only	VR right target pose
/tj/control/enableL	std_msgs/msg/Bool	Read-only	Left teleoperation enable
/tj/control/enableR	std_msgs/msg/Bool	Read-only	Right teleoperation enable
/tj/control/vr_joy_L	sensor_msgs/msg/Joy	Read-only	Raw left controller input
/tj/control/vr_joy_R	sensor_msgs/msg/Joy	Read-only	Raw right controller input
/tj/control/Elbow_left	geometry_msgs/msg/PoseStamped	Read-only	Left elbow tracking pose
/tj/control/Elbow_right	geometry_msgs/msg/PoseStamped	Read-only	Right elbow tracking pose
/tj/info/vr_connected	std_msgs/msg/Bool	Read-only	Headset connection state
/tj/control/footkey	std_msgs/msg/Bool	Customer input, optional	Glove-mode foot pedal

4. Customer Control Inputs

Topic	Type	Requirement
/tj/control/user/joint_cmd_A	marvin_msgs/msg/JointcmdArm	Joint Input = 3
/tj/control/user/joint_cmd_B	marvin_msgs/msg/JointcmdArm	Joint Input = 3
/tj/control/ik_request/vla	marvin_msgs/msg/IKRequest	IK Input = 2, Joint Input = 1
/tj/control/gripperValueL	std_msgs/msg/Float32	Left Tool running
/tj/control/gripperValueR	std_msgs/msg/Float32	Right Tool running

5. Teleop, IK, and QP Chain

Topic	Type	Access	Description
/tj/control/eef_cmd_A	geometry_msgs/msg/PoseStamped	Read-only	Mapped left Cartesian target
/tj/control/eef_cmd_B	geometry_msgs/msg/PoseStamped	Read-only	Mapped right Cartesian target
/tj/control/ik_request/vr	marvin_msgs/msg/IKRequest	Read-only	VR IK request
/tj/control/ik_request	marvin_msgs/msg/IKRequest	Read-only	Arbitrated QP IK request
/tj/control/ik_cmd_A	marvin_msgs/msg/Jointcmd	Read-only	Compatibility left IK diagnostic output; not in the primary chain
/tj/control/ik_cmd_B	marvin_msgs/msg/Jointcmd	Read-only	Compatibility right IK diagnostic output; not in the primary chain
/tj/info/ik_request_mux/active_source	std_msgs/msg/Int32	Read-only	IK source: 0=idle, 1=VR, 2=VLA
/tj/control/ik_result	marvin_msgs/msg/IKResult	Read-only	IK result
/tj/joint_state_cmd	sensor_msgs/msg/JointState	Read-only	Full-model QP target
/tj/control/qp_controller/joint_cmd_A	marvin_msgs/msg/JointcmdArm	Read-only	QP left output
/tj/control/qp_controller/joint_cmd_B	marvin_msgs/msg/JointcmdArm	Read-only	QP right output

6. Planner, Playback, and Final Commands

Topic	Type	Access	Description
/tj/control/joint_cmd_plan_A	marvin_msgs/msg/Jointcmd	Read-only	Planner left output
/tj/control/joint_cmd_plan_B	marvin_msgs/msg/Jointcmd	Read-only	Planner right output
/tj/control/replay/joint_cmd_A	marvin_msgs/msg/JointcmdArm	Read-only	Playback left output
/tj/control/replay/joint_cmd_B	marvin_msgs/msg/JointcmdArm	Read-only	Playback right output
/tj/control/joint_cmd_A	marvin_msgs/msg/JointcmdArm	Read-only	Final left command
/tj/control/joint_cmd_B	marvin_msgs/msg/JointcmdArm	Read-only	Final right command
/tj/control/input_mode	std_msgs/msg/Int32	Read-only	Joint source: 0=idle, 1=teleop, 2=planner, 3=user, 4=replay

7. DM / ZY Grippers

Topic	Type	Access
/tj/control/gripperValueL	std_msgs/msg/Float32	Customer input, optional
/tj/control/gripperValueR	std_msgs/msg/Float32	Customer input, optional
/tj/info/gripper_feedback_L	std_msgs/msg/Float32MultiArray	Read-only, optional
/tj/info/gripper_feedback_R	std_msgs/msg/Float32MultiArray	Read-only, optional
/tj/info/gripper_feedback_L_err	std_msgs/msg/Int32MultiArray	Read-only, optional
/tj/info/gripper_feedback_R_err	std_msgs/msg/Int32MultiArray	Read-only, optional

8. Wuji Hands

Wuji topics remain global and do not use /tj.

Topic	Type	Access
/hand_left/joint_commands	sensor_msgs/msg/JointState	Customer input, optional
/hand_left/joint_states	sensor_msgs/msg/JointState	Read-only, optional
/hand_right/joint_commands	sensor_msgs/msg/JointState	Customer input, optional
/hand_right/joint_states	sensor_msgs/msg/JointState	Read-only, optional
/hand_left/joint_commands_playback	sensor_msgs/msg/JointState	Read-only, optional
/hand_right/joint_commands_playback	sensor_msgs/msg/JointState	Read-only, optional

9. Recorder, Playback, and Camera

Topic	Type	Access	Description
/tj/recorder/status	std_msgs/msg/Int32	Read-only, optional	Recording state
/tj/control/playback_control	std_msgs/msg/String	Compatibility input, optional	JSON playback control; prefer the service
/tj/playback_status	std_msgs/msg/String	Read-only, optional	Playback state
/tj/playback_key	std_msgs/msg/Bool	Read-only, optional	Playback key/state
/quad_tile/compressed	sensor_msgs/msg/CompressedImage	Read-only, optional, global	Raw tiled H.264 image, subscriber-driven
/quad_tile/compressed_undistorted	sensor_msgs/msg/CompressedImage	Read-only, optional, global	Calibration-processed tiled H.264 image, subscriber-driven
/quad_tile/jpeg/compressed	sensor_msgs/msg/CompressedImage	Read-only, optional, global	Tiled JPEG image

See Camera Configuration and ROS Interfaces for the complete camera interface reference.

10. ROS System Topics

Topic	Type	Access
/tf	tf2_msgs/msg/TFMessage	Read-only
/tf_static	tf2_msgs/msg/TFMessage	Read-only
/rosout	rcl_interfaces/msg/Log	Read-only
/parameter_events	rcl_interfaces/msg/ParameterEvent	Read-only

11. Quick Verification

source /etc/apex/apex_ros_env.sh

echo '=== /tj topics ==='
ros2 topic list -t | grep '^/tj/' | sort

echo '=== global product topics ==='
ros2 topic list -t | grep -E '^/hand_|^/quad_tile/|^/info/apex_package_info$' | sort

echo '=== customer input endpoints ==='
ros2 topic info /tj/control/user/joint_cmd_A -v
ros2 topic info /tj/control/ik_request/vla -v
ros2 topic info /tj/control/gripperValueL -v

Topics appear only while their modules are running. If a topic exists but carries no messages, check its publishers, QoS, ROS_DOMAIN_ID, APEX_ROS_NAMESPACE, and module state.

12. Topic Rate Reference

The following values come from the current Marvin Pro source and default parameters. Timer, SDK/CAN control-loop, ROS topic, and frontend WebSocket rates are different concepts. These values are not hard real-time guarantees under Linux, DDS, or network load.

Topic / chain	Design or expected rate	Condition
/tj/info/eef_left/right	1000 Hz	Teleop running; actual rate depends on compute load
/tj/control/ik_request/vr	1000 Hz	Teleop running with a valid VR source
/tj/control/qp_controller/joint_cmd_A/B	Up to 500 Hz	Robot Ready, valid target, and healthy QP
/tj/control/joint_cmd_A/B	Normally 500 Hz in Teleop	Joint source is Teleop; follows the active source
/tj/info/joint_feedback	200 Hz	Robot connected to MarvinSDK
/tj/info/arm_state, /tj/info/robot_state	200 Hz	Robot connected
/tj/joint_states	100 Hz	Robot connected
/tj/info/gripper_feedback_L/R and error topics	200 Hz	DM/ZY Tool running
/tj/recorder/status	1 Hz	Recorder running
/tj/playback_status	10 Hz	Playback running
/tj/info/robot_info	0.2 Hz	Every 5 seconds by default, plus one message at startup
/quad_tile/compressed, /quad_tile/compressed_undistorted, /quad_tile/jpeg/compressed	Default maximum 30 Hz, subscriber-driven	Actual rate depends on valid inputs, mosaic configuration, and subscription state

Headset targets, enable states, and gripper commands follow actual UDP packets or an upstream customer program and have no universal fixed rate. Planner, Replay, event-state topics, and static TF should not be evaluated as continuous streams.

Check publisher count before measuring so merged traffic from multiple publishers is not mistaken for a single-node rate:

source /etc/apex/apex_ros_env.sh

ros2 topic info -v /tj/info/joint_feedback --no-daemon
ros2 topic info -v /tj/joint_states --no-daemon
ros2 topic info -v /tj/info/gripper_feedback_L --no-daemon

ros2 topic hz /tj/info/eef_left
ros2 topic hz /tj/control/qp_controller/joint_cmd_A
ros2 topic hz /tj/control/joint_cmd_A
ros2 topic hz /tj/info/joint_feedback
ros2 topic hz /tj/joint_states
ros2 topic hz /tj/info/gripper_feedback_L

For a formal stability test, run the arms, grippers, cameras, and recording concurrently for at least 120 seconds. Record mean Hz, period standard deviation, P95/P99, maximum gap, stream interruptions, publisher count, and CPU load.