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core node

The core node is the central node of the robot.

(TODO: further elaborate)

Periodic Local SysInfo Measurements

Periodically measures local memory, CPU usage and temperature and transmits it to the Monitors.

Periodic mc_* Checkup

Nodes from other mc_* packages transmit their updates over the /monitor topic to the core. The core forwards those messages to the monitor, and also periodically resends the messages to keep new Monitors up-to-date.

Chest UI Websocket Server

The websocket server for the UI app is available from port 8001. The server handles incoming messages from the UI. Currently the server processes debug, torque and online states from the UI.

Monitor Websocket Server

The websocket server for the Monitor app is available from port 8002. The server currently handles debug, torque and online states, foreign parameter changes, joint calibration, animations and audio device selection.