5 Interface Description

AgiBot X2 AimDK Interface Documentation – ROS2-based humanoid robot development interfaces

The AgiBot X2 AimDK provides a complete set of ROS2 interfaces for controlling the AgiBot X2 humanoid robot. The interfaces follow ROS2 standards and support both C++ and Python, offering developers a flexible and efficient environment for robot application development.

Package structure The aimdk_msgs protocol package is organized by module layers. The srv and msg structures vary across modules, but all correctly link to generate stub code corresponding to the aimdk_msgs interfaces.

aimdk_msgs/interface/robot
├── hal/                    # Hardware Abstraction Layer
│   ├── msg/                # General messages
│   ├── srv/                # Control-related services
│   └── audio/              # Audio related
├── mc/                     # Motion control module
│   ├── action/             # Motion mode related
│   ├── data/               # State data
│   └── motion/             # Motion control
└── ...                     # Additional interfaces

Module overview

🤖 Control Module – Provides low-level robot control interfaces including motion control, joint control, and end-effector control

  • MC control signal configuration and input source management

  • Joint control and mode switching

  • Preset action execution

  • End-effector control (gripper/dexterous hand)

🎯 Perception Module (Coming soon) – Provides multimodal perception capabilities including vision and SLAM

  • Visual perception

  • SLAM localization and mapping

  • Multi-sensor fusion

💬 Interaction Module – Provides human-robot interaction interfaces supporting speech, expressions, and more

  • Speech recognition and synthesis

  • Expression control

  • Multimedia playback

🔧 Fault and System Management (To be released) – Provides system monitoring, fault diagnostics, and permission management

  • Fault detection and diagnostics

  • System permission management

  • System status monitoring

Module interfaces