Qiyuan Q1 Robot SDK hands-on: get touch messages working, then use the ROS 2 graphical interface for debugging and model display

The story

This article has 2.2w views, 31 likes, and 31 bookmarks. Based on the Qiyuan Q1 robot SDK, it uses ROS 2 Humble to integrate and visually verify touch events (TouchState). It covers SDK message package construction, Python subscription callbacks, message flow monitoring with rqt_graph/Topic Monitor, QoS compatibility troubleshooting, and loading a URDF model in RViz to manually adjust shoulder and elbow joint poses. All operations were completed on an Ubuntu 22.04 remote server, emphasizing reproducibility of environment loading, consistent Domain ID, message type imports, and end-to-end joint-state data flow.