solve dependencies problem

2025-09-05 15:49:00 +08:00
parent 12a6b47969
commit 21fbd5a323
114 changed files with 11337 additions and 19 deletions
--- a/data_gen_dependencies/aimdk/protocol/hal/CMakeLists.txt
+++ b/data_gen_dependencies/aimdk/protocol/hal/CMakeLists.txt
@@ -0,0 +1,5 @@
+# -------------------------------------------------------------
+# Protocol: aimdk::protocol::hand
+# -------------------------------------------------------------
+
+aimrte_protocol(DEPEND aimdk::protocol::common ROS2_DEPEND std_msgs sensor_msgs)
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/agi_claw.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/agi_claw.proto
@@ -0,0 +1,20 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+
+// 夹爪手部命令
+message AgiClawHandCommand {
+  uint32 cmd = 1;
+  uint32 pos = 2;
+  uint32 force = 3;
+  uint32 clamp_method = 4;
+  uint32 finger_pos = 5;
+}
+
+// 夹爪手部状态
+message AgiClawHandState {
+  uint32 state = 1;
+  uint32 pos = 2;
+  uint32 temperature = 3;
+  uint32 finger_pos = 4;
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/agi_claw_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/agi_claw_pb2.py
@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/hal/hand/agi_claw.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n&aimdk/protocol/hal/hand/agi_claw.proto\x12\x0e\x61imdk.protocol\"g\n\x12\x41giClawHandCommand\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\x12\x0b\n\x03pos\x18\x02 \x01(\r\x12\r\n\x05\x66orce\x18\x03 \x01(\r\x12\x14\n\x0c\x63lamp_method\x18\x04 \x01(\r\x12\x12\n\nfinger_pos\x18\x05 \x01(\r\"W\n\x10\x41giClawHandState\x12\r\n\x05state\x18\x01 \x01(\r\x12\x0b\n\x03pos\x18\x02 \x01(\r\x12\x13\n\x0btemperature\x18\x03 \x01(\r\x12\x12\n\nfinger_pos\x18\x04 \x01(\rb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.hal.hand.agi_claw_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_AGICLAWHANDCOMMAND']._serialized_start=58
+  _globals['_AGICLAWHANDCOMMAND']._serialized_end=161
+  _globals['_AGICLAWHANDSTATE']._serialized_start=163
+  _globals['_AGICLAWHANDSTATE']._serialized_end=250
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/hal_hand_service.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/hal_hand_service.proto
@@ -0,0 +1,25 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/rpc.proto";
+import public "aimdk/protocol/common/header.proto";
+import public "aimdk/protocol/hal/hand/hand.proto";
+
+
+// 获取机器人手部状态响应
+message HandStateResponse {
+  ResponseHeader header = 1;  // 响应头
+  HandState data = 2;         // 手部状态
+}
+
+// 设置机器人手部控制请求
+message HandCommandRequest {
+  RequestHeader header = 1;  // 请求头
+  HandCommand data = 2;      // 手部控制
+}
+
+// HandService
+service HalHandService {
+  rpc GetHandState(CommonRequest) returns (HandStateResponse);
+  rpc SetHandCommand(HandCommandRequest) returns (CommonResponse);
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/hal_hand_service_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/hal_hand_service_pb2.py
@@ -0,0 +1,60 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/hal/hand/hal_hand_service.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from aimdk.protocol.common import rpc_pb2 as aimdk_dot_protocol_dot_common_dot_rpc__pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_timestamp__pb2 = aimdk_dot_protocol_dot_common_dot_rpc__pb2.aimdk_dot_protocol_dot_common_dot_timestamp__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_timestamp__pb2 = aimdk_dot_protocol_dot_common_dot_rpc__pb2.aimdk.protocol.common.timestamp_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_header__pb2 = aimdk_dot_protocol_dot_common_dot_rpc__pb2.aimdk_dot_protocol_dot_common_dot_header__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_header__pb2 = aimdk_dot_protocol_dot_common_dot_rpc__pb2.aimdk.protocol.common.header_pb2
+from aimdk.protocol.common import header_pb2 as aimdk_dot_protocol_dot_common_dot_header__pb2
+from aimdk.protocol.hal.hand import hand_pb2 as aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_header__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk_dot_protocol_dot_common_dot_header__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_header__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk.protocol.common.header_pb2
+try:
+  aimdk_dot_protocol_dot_hal_dot_hand_dot_inspire__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk_dot_protocol_dot_hal_dot_hand_dot_inspire__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_hal_dot_hand_dot_inspire__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk.protocol.hal.hand.inspire_pb2
+try:
+  aimdk_dot_protocol_dot_hal_dot_hand_dot_jodell__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk_dot_protocol_dot_hal_dot_hand_dot_jodell__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_hal_dot_hand_dot_jodell__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk.protocol.hal.hand.jodell_pb2
+try:
+  aimdk_dot_protocol_dot_hal_dot_hand_dot_agi__claw__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk_dot_protocol_dot_hal_dot_hand_dot_agi__claw__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_hal_dot_hand_dot_agi__claw__pb2 = aimdk_dot_protocol_dot_hal_dot_hand_dot_hand__pb2.aimdk.protocol.hal.hand.agi_claw_pb2
+
+from aimdk.protocol.common.rpc_pb2 import *
+from aimdk.protocol.common.header_pb2 import *
+from aimdk.protocol.hal.hand.hand_pb2 import *
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n.aimdk/protocol/hal/hand/hal_hand_service.proto\x12\x0e\x61imdk.protocol\x1a\x1f\x61imdk/protocol/common/rpc.proto\x1a\"aimdk/protocol/common/header.proto\x1a\"aimdk/protocol/hal/hand/hand.proto\"l\n\x11HandStateResponse\x12.\n\x06header\x18\x01 \x01(\x0b\x32\x1e.aimdk.protocol.ResponseHeader\x12\'\n\x04\x64\x61ta\x18\x02 \x01(\x0b\x32\x19.aimdk.protocol.HandState\"n\n\x12HandCommandRequest\x12-\n\x06header\x18\x01 \x01(\x0b\x32\x1d.aimdk.protocol.RequestHeader\x12)\n\x04\x64\x61ta\x18\x02 \x01(\x0b\x32\x1b.aimdk.protocol.HandCommand2\xb8\x01\n\x0eHalHandService\x12P\n\x0cGetHandState\x12\x1d.aimdk.protocol.CommonRequest\x1a!.aimdk.protocol.HandStateResponse\x12T\n\x0eSetHandCommand\x12\".aimdk.protocol.HandCommandRequest\x1a\x1e.aimdk.protocol.CommonResponseP\x00P\x01P\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.hal.hand.hal_hand_service_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_HANDSTATERESPONSE']._serialized_start=171
+  _globals['_HANDSTATERESPONSE']._serialized_end=279
+  _globals['_HANDCOMMANDREQUEST']._serialized_start=281
+  _globals['_HANDCOMMANDREQUEST']._serialized_end=391
+  _globals['_HALHANDSERVICE']._serialized_start=394
+  _globals['_HALHANDSERVICE']._serialized_end=578
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/hal_hand_service_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/hal_hand_service_pb2_grpc.py
@@ -0,0 +1,103 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from aimdk.protocol.common import rpc_pb2 as aimdk_dot_protocol_dot_common_dot_rpc__pb2
+from aimdk.protocol.hal.hand import hal_hand_service_pb2 as aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2
+
+
+class HalHandServiceStub(object):
+    """HandService
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetHandState = channel.unary_unary(
+                '/aimdk.protocol.HalHandService/GetHandState',
+                request_serializer=aimdk_dot_protocol_dot_common_dot_rpc__pb2.CommonRequest.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2.HandStateResponse.FromString,
+                )
+        self.SetHandCommand = channel.unary_unary(
+                '/aimdk.protocol.HalHandService/SetHandCommand',
+                request_serializer=aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2.HandCommandRequest.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_common_dot_rpc__pb2.CommonResponse.FromString,
+                )
+
+
+class HalHandServiceServicer(object):
+    """HandService
+    """
+
+    def GetHandState(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetHandCommand(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_HalHandServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetHandState': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetHandState,
+                    request_deserializer=aimdk_dot_protocol_dot_common_dot_rpc__pb2.CommonRequest.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2.HandStateResponse.SerializeToString,
+            ),
+            'SetHandCommand': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetHandCommand,
+                    request_deserializer=aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2.HandCommandRequest.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_common_dot_rpc__pb2.CommonResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.HalHandService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class HalHandService(object):
+    """HandService
+    """
+
+    @staticmethod
+    def GetHandState(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.HalHandService/GetHandState',
+            aimdk_dot_protocol_dot_common_dot_rpc__pb2.CommonRequest.SerializeToString,
+            aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2.HandStateResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetHandCommand(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.HalHandService/SetHandCommand',
+            aimdk_dot_protocol_dot_hal_dot_hand_dot_hal__hand__service__pb2.HandCommandRequest.SerializeToString,
+            aimdk_dot_protocol_dot_common_dot_rpc__pb2.CommonResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/hand.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/hand.proto
@@ -0,0 +1,35 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/header.proto";
+import public "aimdk/protocol/hal/hand/inspire.proto";
+import public "aimdk/protocol/hal/hand/jodell.proto";
+import public "aimdk/protocol/hal/hand/agi_claw.proto";
+
+
+message SingleHandState {
+  oneof hand {
+    InspireHand inspire = 1;              // 因时手
+    ClawHand claw = 2;                    // jodell夹爪手
+    AgiClawHandState agi_claw_state = 3;  // agi自研夹爪状态
+  }
+}
+
+message SingleHandCommand {
+  oneof hand {
+    InspireHand inspire = 1;              // 因时手
+    ClawHand claw = 2;                    // jodell夹爪手
+    AgiClawHandCommand agi_claw_cmd = 3;  // agi自研夹爪命令
+  }
+}
+
+message HandState {
+  SingleHandState left = 2;   // 左手状态
+  SingleHandState right = 3;  // 右手状态
+}
+
+message HandCommand {
+  SingleHandCommand left = 2;   // 左手指令
+  SingleHandCommand right = 3;  // 右手指令
+}
+
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/hand_channel.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/hand_channel.proto
@@ -0,0 +1,18 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/header.proto";
+import public "aimdk/protocol/hal/hand/hand.proto";
+
+
+// 机器人手部状态
+message HandStateChannel {
+  Header header = 1;   // 消息头
+  HandState data = 2;  // 手部状态
+}
+
+// 机器人手部指令
+message HandCommandChannel {
+  Header header = 1;     // 消息头
+  HandCommand data = 2;  // 手部指令
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/hand_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/hand_pb2.py
@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/hal/hand/hand.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from aimdk.protocol.common import header_pb2 as aimdk_dot_protocol_dot_common_dot_header__pb2
+from aimdk.protocol.hal.hand import inspire_pb2 as aimdk_dot_protocol_dot_hal_dot_hand_dot_inspire__pb2
+from aimdk.protocol.hal.hand import jodell_pb2 as aimdk_dot_protocol_dot_hal_dot_hand_dot_jodell__pb2
+from aimdk.protocol.hal.hand import agi_claw_pb2 as aimdk_dot_protocol_dot_hal_dot_hand_dot_agi__claw__pb2
+
+from aimdk.protocol.common.header_pb2 import *
+from aimdk.protocol.hal.hand.inspire_pb2 import *
+from aimdk.protocol.hal.hand.jodell_pb2 import *
+from aimdk.protocol.hal.hand.agi_claw_pb2 import *
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"aimdk/protocol/hal/hand/hand.proto\x12\x0e\x61imdk.protocol\x1a\"aimdk/protocol/common/header.proto\x1a%aimdk/protocol/hal/hand/inspire.proto\x1a$aimdk/protocol/hal/hand/jodell.proto\x1a&aimdk/protocol/hal/hand/agi_claw.proto\"\xaf\x01\n\x0fSingleHandState\x12.\n\x07inspire\x18\x01 \x01(\x0b\x32\x1b.aimdk.protocol.InspireHandH\x00\x12(\n\x04\x63law\x18\x02 \x01(\x0b\x32\x18.aimdk.protocol.ClawHandH\x00\x12:\n\x0e\x61gi_claw_state\x18\x03 \x01(\x0b\x32 .aimdk.protocol.AgiClawHandStateH\x00\x42\x06\n\x04hand\"\xb1\x01\n\x11SingleHandCommand\x12.\n\x07inspire\x18\x01 \x01(\x0b\x32\x1b.aimdk.protocol.InspireHandH\x00\x12(\n\x04\x63law\x18\x02 \x01(\x0b\x32\x18.aimdk.protocol.ClawHandH\x00\x12:\n\x0c\x61gi_claw_cmd\x18\x03 \x01(\x0b\x32\".aimdk.protocol.AgiClawHandCommandH\x00\x42\x06\n\x04hand\"j\n\tHandState\x12-\n\x04left\x18\x02 \x01(\x0b\x32\x1f.aimdk.protocol.SingleHandState\x12.\n\x05right\x18\x03 \x01(\x0b\x32\x1f.aimdk.protocol.SingleHandState\"p\n\x0bHandCommand\x12/\n\x04left\x18\x02 \x01(\x0b\x32!.aimdk.protocol.SingleHandCommand\x12\x30\n\x05right\x18\x03 \x01(\x0b\x32!.aimdk.protocol.SingleHandCommandP\x00P\x01P\x02P\x03\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.hal.hand.hand_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_SINGLEHANDSTATE']._serialized_start=208
+  _globals['_SINGLEHANDSTATE']._serialized_end=383
+  _globals['_SINGLEHANDCOMMAND']._serialized_start=386
+  _globals['_SINGLEHANDCOMMAND']._serialized_end=563
+  _globals['_HANDSTATE']._serialized_start=565
+  _globals['_HANDSTATE']._serialized_end=671
+  _globals['_HANDCOMMAND']._serialized_start=673
+  _globals['_HANDCOMMAND']._serialized_end=785
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/inspire.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/inspire.proto
@@ -0,0 +1,25 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+
+// 手指
+message Finger {
+  int32 thumb_pos_0 = 1;  // 拇指第一关节
+  int32 thumb_pos_1 = 2;  // 拇指第二关节
+  int32 index_pos = 3;    // 食指
+  int32 middle_pos = 4;   // 中指
+  int32 ring_pos = 5;     // 无名指
+  int32 pinky_pos = 6;    // 小指
+}
+
+// 手腕
+message Wrist {
+  int32 x = 1;  // x轴
+  int32 y = 2;  // y轴
+}
+
+// Inspire手部
+message InspireHand {
+  Finger finger = 1;  // 手指
+  Wrist wrist = 2;    // 手腕
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/inspire_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/inspire_pb2.py
@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/hal/hand/inspire.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%aimdk/protocol/hal/hand/inspire.proto\x12\x0e\x61imdk.protocol\"~\n\x06\x46inger\x12\x13\n\x0bthumb_pos_0\x18\x01 \x01(\x05\x12\x13\n\x0bthumb_pos_1\x18\x02 \x01(\x05\x12\x11\n\tindex_pos\x18\x03 \x01(\x05\x12\x12\n\nmiddle_pos\x18\x04 \x01(\x05\x12\x10\n\x08ring_pos\x18\x05 \x01(\x05\x12\x11\n\tpinky_pos\x18\x06 \x01(\x05\"\x1d\n\x05Wrist\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"[\n\x0bInspireHand\x12&\n\x06\x66inger\x18\x01 \x01(\x0b\x32\x16.aimdk.protocol.Finger\x12$\n\x05wrist\x18\x02 \x01(\x0b\x32\x15.aimdk.protocol.Wristb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.hal.hand.inspire_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_FINGER']._serialized_start=57
+  _globals['_FINGER']._serialized_end=183
+  _globals['_WRIST']._serialized_start=185
+  _globals['_WRIST']._serialized_end=214
+  _globals['_INSPIREHAND']._serialized_start=216
+  _globals['_INSPIREHAND']._serialized_end=307
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/jodell.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/jodell.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+
+// 夹爪手部
+message ClawHand {
+  uint32 position = 1;
+  uint32 velocity = 2;
+  uint32 force = 3;
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/hand/jodell_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/hand/jodell_pb2.py
@@ -0,0 +1,26 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/hal/hand/jodell.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$aimdk/protocol/hal/hand/jodell.proto\x12\x0e\x61imdk.protocol\"=\n\x08\x43lawHand\x12\x10\n\x08position\x18\x01 \x01(\r\x12\x10\n\x08velocity\x18\x02 \x01(\r\x12\r\n\x05\x66orce\x18\x03 \x01(\rb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.hal.hand.jodell_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_CLAWHAND']._serialized_start=56
+  _globals['_CLAWHAND']._serialized_end=117
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/jaka/jaka.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/jaka/jaka.proto
@@ -0,0 +1,733 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/vec3.proto";
+import public "aimdk/protocol/common/quaternion.proto";
+import public "aimdk/protocol/common/rpy.proto";
+import public "aimdk/protocol/common/se3_pose.proto";
+
+
+/**
+ * @brief 关节位置，单位rad
+ */
+message JointPos {  // Jaka: JointValue
+  repeated double jPos = 1;
+}
+
+/**
+ * @brief 负载
+ */
+message PayLoad {
+  double mass = 1;    // 负载质量，单位：kg
+  Vec3 centroid = 2;  // 负载质心, 单位：mm
+}
+
+/**
+ * @brief 运动模式
+ */
+enum MoveMode {
+  MoveMode_ABS = 0;       // 绝对运动
+  MoveMode_INCR = 1;      // 相对运动
+  MoveMode_CONTINUE = 2;  // 连续运动
+}
+
+/**
+ * @brief 机器人状态
+ */
+message RobotState {
+  int32 estoped = 1;       // 是否急停
+  int32 poweredOn = 2;     // 是否打开电源
+  int32 servoEnabled = 3;  // 是否使能
+}
+
+/**
+ * @brief 机械臂单关节瞬时信息
+ */
+message JointMonitorData {
+  double instCurrent = 1;      // 瞬时电流
+  double instVoltage = 2;      // 瞬时电压
+  double instTemperature = 3;  // 瞬时温度
+  double instVel = 4;          // 瞬时速度 控制器1.7.0.20及以上
+  double instTorq = 5;         // 瞬时力矩
+}
+
+/**
+ * @brief 机械臂关节信息
+ */
+message RobotMonitorData {
+  double scbMajorVersion = 1;                        // scb主版本号
+  double scbMinorVersion = 2;                        // scb小版本号
+  double cabTemperature = 3;                         // 控制器温度
+  double robotAveragePower = 4;                      // 机器人平均电压
+  double robotAverageCurrent = 5;                    // 机器人平均电流
+  repeated JointMonitorData joint_monitor_data = 6;  // 机器人7个关节的监测数据
+}
+
+/**
+ * @brief 力传感器监控信息
+ */
+message TorqSernsorMonitorData {
+  string ip = 1;                   // 力矩传感器ip地址
+  int32 port = 2;                  // 力矩传感器端口号
+  PayLoad payLoad = 3;             // 工具负载
+  int32 status = 4;                // 力矩传感器状态
+  int32 errcode = 5;               // 力矩传感器异常错误码
+  repeated double actTorque = 6;   // 力矩传感器实际接触力值（勾选初始化时）或原始读数值（勾选不初始化时）
+  repeated double torque = 7;      // 力矩传感器原始读数值
+  repeated double realTorque = 8;  // 力矩传感器实际接触力值（不随初始化选项变化）
+}
+
+/**
+ * @brief 机械臂详细状态信息
+ */
+message RobotStatus {
+  int32 errcode = 1;
+  int32 inpos = 2;
+  int32 powered_on = 3;
+  int32 enabled = 4;
+  double rapidrate = 5;
+  int32 protective_stop = 6;
+  int32 emergency_stop = 7;
+  repeated double cartesiantran_pos = 8;
+  repeated double joint_pos = 9;
+  uint32 on_soft_limit = 10;
+  uint32 cur_user_id = 11;
+  int32 drag_status = 12;
+  RobotMonitorData robot_monitor_data = 13;
+  TorqSernsorMonitorData torq_sensor_monitor_data = 14;
+  int32 is_socket_connect = 15;
+}
+
+/**
+ * @brief 可选参数
+ */
+message OptionalCond {
+  int32 executingLineId = 1;
+}
+
+/**
+ * @brief 错误状态
+ */
+message ErrorCode {
+  int32 code = 1;
+  string message = 2;
+}
+
+/**
+ * @brief rpc GetJointPosition() 请求信息
+ */
+message GetJointPositionReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetJointPosition() 响应信息
+ */
+message GetJointPositionRsp {
+  JointPos pos = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief JointMove扩展参数
+ */
+message JointMoveExt {
+  double acc = 1;
+  double tol = 2;
+  OptionalCond option_cond = 3;
+}
+
+/**
+ * @brief rpc JointMove() 请求信息
+ */
+message JointMoveReq {
+  string robot_name = 1;
+  JointPos pos = 2;
+  MoveMode mode = 3;
+  bool is_block = 4;
+  double distance_frame = 5;
+  JointMoveExt ext = 6;
+  bool ee_interpolation = 7;
+}
+
+/**
+ * @brief rpc JointMove() 响应信息
+ */
+message JointMoveRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief LinearMove扩展参数
+ */
+message LinearMoveExt {
+  double acc = 1;
+  double tol = 2;
+  OptionalCond option_cond = 3;
+}
+
+/**
+ * @brief rpc LinearMove() 请求信息
+ */
+message LinearMoveReq {
+  string robot_name = 1;
+  SE3RpyPose pose = 2;
+  MoveMode mode = 3;
+  bool is_block = 4;
+  double distance_frame = 5;
+  LinearMoveExt ext = 6;
+  bool ee_interpolation = 7;
+}
+
+/**
+ * @brief rpc LinearMove() 响应信息
+ */
+message LinearMoveRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc GetRobotState() 请求信息
+ */
+message GetRobotStateReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetRobotState() 响应信息
+ */
+message GetRobotStateRsp {
+  RobotState state = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc GetRobotStatus() 请求信息
+ */
+message GetRobotStatusReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetRobotStatus() 响应信息
+ */
+message GetRobotStatusRsp {
+  RobotStatus status = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc IsInPos() 请求信息
+ */
+message IsInPosReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc IsInPos() 响应信息
+ */
+message IsInPosRsp {
+  bool is_in_pos = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc IsOnLimit() 请求信息
+ */
+message IsOnLimitReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc IsOnLimit() 响应信息
+ */
+message IsOnLimitRsp {
+  bool is_on_limit = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc GetTcpPosition() 请求信息
+ */
+message GetTcpPositionReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetTcpPosition() 响应信息
+ */
+message GetTcpPositionRsp {
+  SE3RpyPose pose = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc KineForward() 请求信息
+ */
+message KineForwardReq {
+  string robot_name = 1;
+  JointPos pos = 2;
+}
+
+/**
+ * @brief rpc KineForward() 响应信息
+ */
+message KineForwardRsp {
+  SE3RpyPose pose = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc KineInverse() 请求信息
+ */
+message KineInverseReq {
+  string robot_name = 1;
+  JointPos ref_pos = 2;
+  SE3RpyPose pose = 3;
+}
+
+/**
+ * @brief rpc KineInverse() 响应信息
+ */
+message KineInverseRsp {
+  JointPos pos = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc ClearError() 请求信息
+ */
+message ClearErrorReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc ClearError() 响应信息
+ */
+message ClearErrorRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc GetLastError() 请求信息
+ */
+message GetLastErrorReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetLastError() 响应信息
+ */
+message GetLastErrorRsp {
+  ErrorCode robot_error = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc IsInCollision() 请求信息
+ */
+message IsInCollisionReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc IsInCollision() 响应信息
+ */
+message IsInCollisionRsp {
+  bool is_in_collision = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc CollisionRecover() 请求信息
+ */
+message CollisionRecoverReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc CollisionRecover() 响应信息
+ */
+message CollisionRecoverRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc GetCollisionLevel() 请求信息
+ */
+message GetCollisionLevelReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetCollisionLevel() 响应信息
+ */
+message GetCollisionLevelRsp {
+  int32 level = 1;
+  int32 errcode = 2;
+  string errmsg = 3;
+}
+
+/**
+ * @brief rpc SetCollisionLevel() 请求信息
+ */
+message SetCollisionLevelReq {
+  string robot_name = 1;
+  int32 level = 2;
+}
+
+/**
+ * @brief rpc SetCollisionLevel() 响应信息
+ */
+message SetCollisionLevelRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc EnableServoControl() 请求信息
+ */
+message EnableServoControlReq {
+  string robot_name = 1;
+  bool enable = 2;
+}
+
+/**
+ * @brief rpc EnableServoControl() 响应信息
+ */
+message EnableServoControlRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc EnableTorqueControl() 请求信息
+ */
+message EnableTorqueControlReq {
+  string robot_name = 1;
+  bool enable = 2;
+  int32 period = 3;
+}
+
+/**
+ * @brief rpc EnableTorqueControl() 响应信息
+ */
+message EnableTorqueControlRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+// InstallationAngle
+/**
+ * @brief rpc SetInstallationAngle() 请求信息
+ */
+message SetInstallationAngleReq {
+  string robot_name = 1;
+  double angleX = 2;
+  double angleZ = 3;
+}
+
+/**
+ * @brief rpc SetInstallationAngle() 响应信息
+ */
+message SetInstallationAngleRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc GetInstallationAngle() 请求信息
+ */
+message GetInstallationAngleReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc GetInstallationAngle() 响应信息
+ */
+message GetInstallationAngleRsp {
+  Quaternion quat = 1;
+  Rpy rpy = 2;
+  int32 errcode = 3;
+  string errmsg = 4;
+}
+
+/**
+ * @brief rpc EnableAdmittanceCtrl() 请求信息
+ */
+message EnableAdmittanceCtrlReq {
+  string robot_name = 1;
+  bool enable_flag = 2;
+}
+
+/**
+ * @brief rpc EnableAdmittanceCtrl() 响应信息
+ */
+message EnableAdmittanceCtrlRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc SetFtCtrlFrame() 请求信息
+ */
+message SetFtCtrlFrameReq {
+  string robot_name = 1;
+  int32 ftFrame = 2;
+}
+
+/**
+ * @brief rpc SetFtCtrlFrame() 响应信息
+ */
+message SetFtCtrlFrameRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc DisableForceControl() 请求信息
+ */
+message DisableForceControlReq {
+  string robot_name = 1;
+}
+
+/**
+ * @brief rpc DisableForceControl() 响应信息
+ */
+message DisableForceControlRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc SetCompliantType() 请求信息
+ */
+message SetCompliantTypeReq {
+  string robot_name = 1;
+  int32 sensor_compensation = 2;
+  int32 compliance_type = 3;
+}
+
+/**
+ * @brief rpc SetCompliantType() 响应信息
+ */
+message SetCompliantTypeRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc SetTorqueSensorMode() 请求信息
+ */
+message SetTorqueSensorModeReq {
+  string robot_name = 1;
+  int32 sensor_mode = 2;
+}
+
+/**
+ * @brief rpc SetTorqueSensorMode() 响应信息
+ */
+message SetTorqueSensorModeRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief rpc SetTorqueSensorMode() 请求信息
+ */
+message SetAdmitCtrlConfigReq {
+  string robot_name = 1;
+  int32 axis = 2;
+  int32 opt = 3;
+  double ftUser = 4;
+  double ftConstant = 5;
+  int32 ftNnormalTrack = 6;
+  double ftReboundFK = 7;
+}
+
+/**
+ * @brief rpc SetAdmitCtrlConfig() 响应信息
+ */
+message SetAdmitCtrlConfigRsp {
+  int32 errcode = 1;
+  string errmsg = 2;
+}
+
+/**
+ * @brief 由 aimrt_hal 中的 jaka_module::JakaModule 模块提供的服务
+ */
+service A2wArmControlService {
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的关节角度。
+   * @param GetJointPositionReq
+   * @return GetJointPositionRsp
+   */
+  rpc GetJointPosition(GetJointPositionReq) returns (GetJointPositionRsp);
+  /**
+   * @brief jaka_module::JakaModule 执行普通关节运动。
+   * @param JointMoveReq
+   * @return JointMoveRsp
+   */
+  rpc JointMove(JointMoveReq) returns (JointMoveRsp);
+  /**
+   * @brief jaka_module::JakaModule 执行末端线性运动。
+   * @param LinearMoveReq
+   * @return LinearMoveRsp
+   */
+  rpc LinearMove(LinearMoveReq) returns (LinearMoveRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂状态信息。
+   * @param GetRobotStateReq
+   * @return GetRobotStateRsp
+   */
+  rpc GetRobotState(GetRobotStateReq) returns (GetRobotStateRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂详细信息。
+   * @param GetRobotStatusReq
+   * @return GetRobotStatusRsp
+   */
+  rpc GetRobotStatus(GetRobotStatusReq) returns (GetRobotStatusRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂是否到达目标点的状态信息。
+   * @param IsInPosReq
+   * @return IsInPosRsp
+   */
+  rpc IsInPos(IsInPosReq) returns (IsInPosRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂是否限位的信息。
+   * @param IsOnLimitReq
+   * @return IsOnLimitRsp
+   */
+  rpc IsOnLimit(IsOnLimitReq) returns (IsOnLimitRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的末端笛卡尔位姿信息。
+   * @param GetTcpPositionReq
+   * @return GetTcpPositionRsp
+   */
+  rpc GetTcpPosition(GetTcpPositionReq) returns (GetTcpPositionRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 进行运动学正解。
+   * @param KineForwardReq
+   * @return KineForwardRsp
+   */
+  rpc KineForward(KineForwardReq) returns (KineForwardRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 进行运动学逆解。
+   * @param KineInverseReq
+   * @return KineInverseRsp
+   */
+  rpc KineInverse(KineInverseReq) returns (KineInverseRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 清理错误。
+   * @param ClearErrorReq
+   * @return ClearErrorRsp
+   */
+  rpc ClearError(ClearErrorReq) returns (ClearErrorRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂错误信息。
+   * @param GetLastErrorReq
+   * @return GetLastErrorRsp
+   */
+  rpc GetLastError(GetLastErrorReq) returns (GetLastErrorRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂是否碰撞的状态信息。
+   * @param IsInCollisionReq
+   * @return IsInCollisionRsp
+   */
+  rpc IsInCollision(IsInCollisionReq) returns (IsInCollisionRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 进行碰撞恢复。
+   * @param CollisionRecoverReq
+   * @return CollisionRecoverRsp
+   */
+  rpc CollisionRecover(CollisionRecoverReq) returns (CollisionRecoverRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂碰撞登记。
+   * @param GetCollisionLevelReq
+   * @return GetCollisionLevelRsp
+   */
+  rpc GetCollisionLevel(GetCollisionLevelReq) returns (GetCollisionLevelRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 设置机械臂碰撞登记。
+   * @param SetCollisionLevelReq
+   * @return SetCollisionLevelRsp
+   */
+  rpc SetCollisionLevel(SetCollisionLevelReq) returns (SetCollisionLevelRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 进行伺服使能控制。
+   * @param EnableServoControlReq
+   * @return EnableServoControlRsp
+   */
+  rpc EnableServoControl(EnableServoControlReq) returns (EnableServoControlRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 进行电流环控制。
+   * @param EnableTorqueControlReq
+   * @return EnableTorqueControlRsp
+   */
+  rpc EnableTorqueControl(EnableTorqueControlReq) returns (EnableTorqueControlRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 设置安装角度。
+   * @param SetInstallationAngleReq
+   * @return SetInstallationAngleRsp
+   */
+  rpc SetInstallationAngle(SetInstallationAngleReq) returns (SetInstallationAngleRsp);
+  /**
+   * @brief 获取 jaka_module::JakaModule 收到的机械臂安装角度。
+   * @param GetInstallationAngleReq
+   * @return GetInstallationAngleRsp
+   */
+  rpc GetInstallationAngle(GetInstallationAngleReq) returns (GetInstallationAngleRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 设置力控拖拽使能。
+   * @param EnableAdmittanceCtrlReq
+   * @return EnableAdmittanceCtrlRsp
+   */
+  rpc EnableAdmittanceCtrl(EnableAdmittanceCtrlReq) returns (EnableAdmittanceCtrlRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 设置导纳控制运动坐标系。
+   * @param SetFtCtrlFrameReq
+   * @return SetFtCtrlFrameRsp
+   */
+  rpc SetFtCtrlFrame(SetFtCtrlFrameReq) returns (SetFtCtrlFrameRsp);
+  /**
+   * @brief 通过 jaka_module::JakaModule 关闭力控。
+   * @param DisableForceControlReq
+   * @return DisableForceControlRsp
+   */
+  rpc DisableForceControl(DisableForceControlReq) returns (DisableForceControlRsp);
+
+  /**
+   * @brief 通过 jaka_module::JakaModule 设置力控类型和传感器初始化状态。
+   * @param SetCompliantTypeReq
+   * @return SetCompliantTypeRsp
+   */
+  rpc SetCompliantType(SetCompliantTypeReq) returns (SetCompliantTypeRsp);
+
+  /**
+   * @brief 通过 jaka_module::JakaModule 开启或关闭力矩传感器。
+   * @param SetTorqueSensorModeReq
+   * @return SetTorqueSensorModeRsp
+   */
+  rpc SetTorqueSensorMode(SetTorqueSensorModeReq) returns (SetTorqueSensorModeRsp);
+
+  /**
+   * @brief 通过 jaka_module::JakaModule 设置柔顺控制参数。
+   * @param SetAdmitCtrlConfigReq
+   * @return SetAdmitCtrlConfigRsp
+   */
+  rpc SetAdmitCtrlConfig(SetAdmitCtrlConfigReq) returns (SetAdmitCtrlConfigRsp);
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/jaka/jaka_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/jaka/jaka_pb2.py
--- a/data_gen_dependencies/aimdk/protocol/hal/jaka/jaka_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/jaka/jaka_pb2_grpc.py
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/joint_channel.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/joint_channel.proto
@@ -0,0 +1,69 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/header.proto";
+import public "aimdk/protocol/common/joint.proto";
+import public "aimdk/protocol/common/se3_pose.proto";
+
+message JointStatesChannel {
+  /** 消息头 */
+  Header header = 1;
+
+  /**
+   * 关节状态，包括角度和速度、扭矩
+   */
+  repeated JointState states = 2;
+}
+message IKStatus{
+    repeated string joint_names=1;
+    repeated double joint_positions=2;
+    bool isSuccess=3;
+}
+
+message JointCommandsChannel {
+  /** 消息头 */
+  Header header = 1;
+
+  /**
+   * 关节指令
+   */
+  repeated JointCommand commands = 2;
+}
+
+message GetJointReq {
+  string serial_no = 1;
+}
+message GetJointRsp {
+  repeated JointState states = 1;
+}
+message GetEEPoseReq {
+    bool is_right = 1;
+}
+message GetEEPoseRsp {
+    string prim_path = 1;
+    SE3RpyPose ee_pose = 2;
+}
+message GetIKStatusReq {
+    bool is_right = 1;
+    repeated SE3RpyPose target_pose = 2;
+    bool ObsAvoid = 3;
+}
+message GetIKStatusRsp {
+    repeated IKStatus IKStatus = 2;
+}
+
+
+message SetJointReq {
+  repeated JointCommand commands = 1;
+  bool is_trajectory = 2;
+}
+message SetJointRsp {
+  string errmsg = 1;
+}
+
+service JointControlService {
+  rpc GetJointPosition(GetJointReq) returns(GetJointRsp);
+  rpc SetJointPosition(SetJointReq) returns(SetJointRsp);
+  rpc GetIKStatus(GetIKStatusReq) returns(GetIKStatusRsp);
+  rpc GetEEPose(GetEEPoseReq) returns(GetEEPoseRsp);
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/joint_channel_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/joint_channel_pb2.py
@@ -0,0 +1,66 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/hal/joint/joint_channel.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from aimdk.protocol.common import header_pb2 as aimdk_dot_protocol_dot_common_dot_header__pb2
+from aimdk.protocol.common import joint_pb2 as aimdk_dot_protocol_dot_common_dot_joint__pb2
+from aimdk.protocol.common import se3_pose_pb2 as aimdk_dot_protocol_dot_common_dot_se3__pose__pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_vec3__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_vec3__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_vec3__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.vec3_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_quaternion__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_quaternion__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_quaternion__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.quaternion_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_rpy__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_rpy__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_rpy__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.rpy_pb2
+
+from aimdk.protocol.common.header_pb2 import *
+from aimdk.protocol.common.joint_pb2 import *
+from aimdk.protocol.common.se3_pose_pb2 import *
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n,aimdk/protocol/hal/joint/joint_channel.proto\x12\x0e\x61imdk.protocol\x1a\"aimdk/protocol/common/header.proto\x1a!aimdk/protocol/common/joint.proto\x1a$aimdk/protocol/common/se3_pose.proto\"h\n\x12JointStatesChannel\x12&\n\x06header\x18\x01 \x01(\x0b\x32\x16.aimdk.protocol.Header\x12*\n\x06states\x18\x02 \x03(\x0b\x32\x1a.aimdk.protocol.JointState\"K\n\x08IKStatus\x12\x13\n\x0bjoint_names\x18\x01 \x03(\t\x12\x17\n\x0fjoint_positions\x18\x02 \x03(\x01\x12\x11\n\tisSuccess\x18\x03 \x01(\x08\"n\n\x14JointCommandsChannel\x12&\n\x06header\x18\x01 \x01(\x0b\x32\x16.aimdk.protocol.Header\x12.\n\x08\x63ommands\x18\x02 \x03(\x0b\x32\x1c.aimdk.protocol.JointCommand\" \n\x0bGetJointReq\x12\x11\n\tserial_no\x18\x01 \x01(\t\"9\n\x0bGetJointRsp\x12*\n\x06states\x18\x01 \x03(\x0b\x32\x1a.aimdk.protocol.JointState\" \n\x0cGetEEPoseReq\x12\x10\n\x08is_right\x18\x01 \x01(\x08\"N\n\x0cGetEEPoseRsp\x12\x11\n\tprim_path\x18\x01 \x01(\t\x12+\n\x07\x65\x65_pose\x18\x02 \x01(\x0b\x32\x1a.aimdk.protocol.SE3RpyPose\"e\n\x0eGetIKStatusReq\x12\x10\n\x08is_right\x18\x01 \x01(\x08\x12/\n\x0btarget_pose\x18\x02 \x03(\x0b\x32\x1a.aimdk.protocol.SE3RpyPose\x12\x10\n\x08ObsAvoid\x18\x03 \x01(\x08\"<\n\x0eGetIKStatusRsp\x12*\n\x08IKStatus\x18\x02 \x03(\x0b\x32\x18.aimdk.protocol.IKStatus\"T\n\x0bSetJointReq\x12.\n\x08\x63ommands\x18\x01 \x03(\x0b\x32\x1c.aimdk.protocol.JointCommand\x12\x15\n\ris_trajectory\x18\x02 \x01(\x08\"\x1d\n\x0bSetJointRsp\x12\x0e\n\x06\x65rrmsg\x18\x01 \x01(\t2\xc9\x02\n\x13JointControlService\x12L\n\x10GetJointPosition\x12\x1b.aimdk.protocol.GetJointReq\x1a\x1b.aimdk.protocol.GetJointRsp\x12L\n\x10SetJointPosition\x12\x1b.aimdk.protocol.SetJointReq\x1a\x1b.aimdk.protocol.SetJointRsp\x12M\n\x0bGetIKStatus\x12\x1e.aimdk.protocol.GetIKStatusReq\x1a\x1e.aimdk.protocol.GetIKStatusRsp\x12G\n\tGetEEPose\x12\x1c.aimdk.protocol.GetEEPoseReq\x1a\x1c.aimdk.protocol.GetEEPoseRspP\x00P\x01P\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.hal.joint.joint_channel_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_JOINTSTATESCHANNEL']._serialized_start=173
+  _globals['_JOINTSTATESCHANNEL']._serialized_end=277
+  _globals['_IKSTATUS']._serialized_start=279
+  _globals['_IKSTATUS']._serialized_end=354
+  _globals['_JOINTCOMMANDSCHANNEL']._serialized_start=356
+  _globals['_JOINTCOMMANDSCHANNEL']._serialized_end=466
+  _globals['_GETJOINTREQ']._serialized_start=468
+  _globals['_GETJOINTREQ']._serialized_end=500
+  _globals['_GETJOINTRSP']._serialized_start=502
+  _globals['_GETJOINTRSP']._serialized_end=559
+  _globals['_GETEEPOSEREQ']._serialized_start=561
+  _globals['_GETEEPOSEREQ']._serialized_end=593
+  _globals['_GETEEPOSERSP']._serialized_start=595
+  _globals['_GETEEPOSERSP']._serialized_end=673
+  _globals['_GETIKSTATUSREQ']._serialized_start=675
+  _globals['_GETIKSTATUSREQ']._serialized_end=776
+  _globals['_GETIKSTATUSRSP']._serialized_start=778
+  _globals['_GETIKSTATUSRSP']._serialized_end=838
+  _globals['_SETJOINTREQ']._serialized_start=840
+  _globals['_SETJOINTREQ']._serialized_end=924
+  _globals['_SETJOINTRSP']._serialized_start=926
+  _globals['_SETJOINTRSP']._serialized_end=955
+  _globals['_JOINTCONTROLSERVICE']._serialized_start=958
+  _globals['_JOINTCONTROLSERVICE']._serialized_end=1287
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/joint_channel_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/joint_channel_pb2_grpc.py
@@ -0,0 +1,165 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from aimdk.protocol.hal.joint import joint_channel_pb2 as aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2
+
+
+class JointControlServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetJointPosition = channel.unary_unary(
+                '/aimdk.protocol.JointControlService/GetJointPosition',
+                request_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetJointReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetJointRsp.FromString,
+                )
+        self.SetJointPosition = channel.unary_unary(
+                '/aimdk.protocol.JointControlService/SetJointPosition',
+                request_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.SetJointReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.SetJointRsp.FromString,
+                )
+        self.GetIKStatus = channel.unary_unary(
+                '/aimdk.protocol.JointControlService/GetIKStatus',
+                request_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetIKStatusReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetIKStatusRsp.FromString,
+                )
+        self.GetEEPose = channel.unary_unary(
+                '/aimdk.protocol.JointControlService/GetEEPose',
+                request_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetEEPoseReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetEEPoseRsp.FromString,
+                )
+
+
+class JointControlServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def GetJointPosition(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetJointPosition(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetIKStatus(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetEEPose(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_JointControlServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetJointPosition': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetJointPosition,
+                    request_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetJointReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetJointRsp.SerializeToString,
+            ),
+            'SetJointPosition': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetJointPosition,
+                    request_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.SetJointReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.SetJointRsp.SerializeToString,
+            ),
+            'GetIKStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetIKStatus,
+                    request_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetIKStatusReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetIKStatusRsp.SerializeToString,
+            ),
+            'GetEEPose': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetEEPose,
+                    request_deserializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetEEPoseReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetEEPoseRsp.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.JointControlService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class JointControlService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetJointPosition(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.JointControlService/GetJointPosition',
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetJointReq.SerializeToString,
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetJointRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetJointPosition(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.JointControlService/SetJointPosition',
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.SetJointReq.SerializeToString,
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.SetJointRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetIKStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.JointControlService/GetIKStatus',
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetIKStatusReq.SerializeToString,
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetIKStatusRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetEEPose(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.JointControlService/GetEEPose',
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetEEPoseReq.SerializeToString,
+            aimdk_dot_protocol_dot_hal_dot_joint_dot_joint__channel__pb2.GetEEPoseRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/msg/Command.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/msg/Command.msg
@@ -0,0 +1,7 @@
+string name
+uint32 sequence
+float64 position
+float64 velocity
+float64 effort
+float64 stiffness
+float64 damping
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/msg/JointCommand.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/msg/JointCommand.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+Command[] joints
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/msg/JointState.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/msg/JointState.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+State[] joints
--- a/data_gen_dependencies/aimdk/protocol/hal/joint/msg/State.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/joint/msg/State.msg
@@ -0,0 +1,5 @@
+string name
+uint32 sequence
+float64 position
+float64 velocity
+float64 effort
--- a/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseCommand.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseCommand.msg
@@ -0,0 +1,6 @@
+float64 x
+float64 y
+float64 z
+float64 rx
+float64 ry
+float64 rz
--- a/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseCommands.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseCommands.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+string[] names
+PoseCommand[] poses
--- a/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseState.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseState.msg
@@ -0,0 +1,6 @@
+float64 x
+float64 y
+float64 z
+float64 rx
+float64 ry
+float64 rz
--- a/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseStates.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/pose/msg/PoseStates.msg
@@ -0,0 +1,5 @@
+std_msgs/Header header
+
+string[] names
+PoseState[] poses
+TorqSensorState[] torqs
--- a/data_gen_dependencies/aimdk/protocol/hal/pose/msg/TorqSensorState.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/pose/msg/TorqSensorState.msg
@@ -0,0 +1,3 @@
+float64[] act_torque
+float64[] torque
+float64[] real_torque
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/FootSensorState.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/FootSensorState.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+string[] names
+SensorState[] states
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/LivoxPoint.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/LivoxPoint.msg
@@ -0,0 +1,9 @@
+# Livox costom pointcloud format.
+
+uint32 offset_time      # offset time relative to the base time
+float32 x               # X axis, unit:m
+float32 y               # Y axis, unit:m
+float32 z               # Z axis, unit:m
+uint8 reflectivity      # reflectivity, 0~255
+uint8 tag               # livox tag
+uint8 line              # laser number in lidar
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/LivoxPointCloud.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/LivoxPointCloud.msg
@@ -0,0 +1,8 @@
+# Livox publish pointcloud msg format.
+
+std_msgs/Header header    # ROS standard message header
+uint64 timebase           # The time of first point
+uint32 point_num          # Total number of pointclouds
+uint8  lidar_id           # Lidar device id number
+uint8[3]  rsvd            # Reserved use
+LivoxPoint[] points      # Pointcloud data
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/SensorState.msg
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/msg/SensorState.msg
@@ -0,0 +1 @@
+int16[] presure
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/rs2_camera.proto
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/rs2_camera.proto
@@ -0,0 +1,98 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+
+/**
+ * @brief 图像类型，包括深度和彩色
+ */
+enum ImageType {
+  ImageType_UNDEFINED = 0;
+  ImageType_DEPTH = 1;
+  ImageType_COLOR = 2;
+}
+
+/**
+ * @brief 图像模型参数
+ */
+enum DistortionType {
+  DistortionType_UNDEFINED = 0;
+  DistortionType_MODIFIED_BROWN_CONRADY = 1;
+  DistortionType_INVERSE_BROWN_CONRADY = 2;
+  DistortionType_FTHETA = 3;
+  DistortionType_BROWN_CONRADY = 4;
+  DistortionType_KANNALA_BRANDT4 = 5;
+  DistortionType_COUNT = 6;
+}
+
+/**
+ * @brief 压缩图像数据
+ */
+message CompressedImage {
+  string format = 2;
+  bytes data = 3;
+}
+
+/**
+ * @brief 相机内参
+ */
+message CameraInfo {
+  int32 width = 1;
+  int32 height = 2;
+  float ppx = 3;
+  float ppy = 4;
+  float fx = 5;
+  float fy = 6;
+  DistortionType model = 7;
+  repeated float coeffs = 8;
+}
+
+/**
+ * @brief rpc GetCameraInfo() 的请求数据
+ */
+message GetCameraInfoRequest {
+  string serial_no = 1;
+  ImageType stream_type = 2;
+}
+
+/**
+ * @brief rpc GetCameraInfo() 的响应数据
+ */
+message GetCameraInfoResponse {
+  repeated CameraInfo info = 1;
+}
+
+/**
+ * @brief rpc GetCameraData() 的请求数据
+ */
+message GetCameraDataRequest {
+  string serial_no = 1;
+}
+
+/**
+ * @brief rpc GetCameraData() 的响应数据
+ */
+message GetCameraDataResponse {
+  string serial_no = 1;
+  CameraInfo color_info = 2;
+  CompressedImage color_image = 3;
+  CameraInfo depth_info = 4;
+  CompressedImage depth_image = 5;
+}
+
+/**
+ * @brief 由 aimrt_hal 中的 realsense_camera_module::RealsenseCameraModule 模块提供的服务
+ */
+service CameraService {
+  /**
+   * @brief 获取 realsense_camera_module::RealsenseCameraModule 收到的相机内参信息。
+   * @param GetCameraInfoRequest 相机序列号
+   * @return GetCameraInfoResponse 相机内参
+   */
+  rpc GetCameraInfo(GetCameraInfoRequest) returns (GetCameraInfoResponse);
+  /**
+   * @brief 获取 realsense_camera_module::RealsenseCameraModule 收到的相机数据，包括相机内参、彩色和深度图像信息。
+   * @param GetCameraDataRequest 相机序列号
+   * @return GetCameraDataResponse 详细数据
+   */
+  rpc GetCameraData(GetCameraDataRequest) returns (GetCameraDataResponse);
+}
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/rs2_camera_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/rs2_camera_pb2.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: protocol/hal/sensors/rs2_camera.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%protocol/hal/sensors/rs2_camera.proto\x12\x0e\x61imdk.protocol\"/\n\x0f\x43ompressedImage\x12\x0e\n\x06\x66ormat\x18\x02 \x01(\t\x12\x0c\n\x04\x64\x61ta\x18\x03 \x01(\x0c\"\x9c\x01\n\nCameraInfo\x12\r\n\x05width\x18\x01 \x01(\x05\x12\x0e\n\x06height\x18\x02 \x01(\x05\x12\x0b\n\x03ppx\x18\x03 \x01(\x02\x12\x0b\n\x03ppy\x18\x04 \x01(\x02\x12\n\n\x02\x66x\x18\x05 \x01(\x02\x12\n\n\x02\x66y\x18\x06 \x01(\x02\x12-\n\x05model\x18\x07 \x01(\x0e\x32\x1e.aimdk.protocol.DistortionType\x12\x0e\n\x06\x63oeffs\x18\x08 \x03(\x02\"Y\n\x14GetCameraInfoRequest\x12\x11\n\tserial_no\x18\x01 \x01(\t\x12.\n\x0bstream_type\x18\x02 \x01(\x0e\x32\x19.aimdk.protocol.ImageType\"A\n\x15GetCameraInfoResponse\x12(\n\x04info\x18\x01 \x03(\x0b\x32\x1a.aimdk.protocol.CameraInfo\")\n\x14GetCameraDataRequest\x12\x11\n\tserial_no\x18\x01 \x01(\t\"\xf6\x01\n\x15GetCameraDataResponse\x12\x11\n\tserial_no\x18\x01 \x01(\t\x12.\n\ncolor_info\x18\x02 \x01(\x0b\x32\x1a.aimdk.protocol.CameraInfo\x12\x34\n\x0b\x63olor_image\x18\x03 \x01(\x0b\x32\x1f.aimdk.protocol.CompressedImage\x12.\n\ndepth_info\x18\x04 \x01(\x0b\x32\x1a.aimdk.protocol.CameraInfo\x12\x34\n\x0b\x64\x65pth_image\x18\x05 \x01(\x0b\x32\x1f.aimdk.protocol.CompressedImage*N\n\tImageType\x12\x17\n\x13ImageType_UNDEFINED\x10\x00\x12\x13\n\x0fImageType_DEPTH\x10\x01\x12\x13\n\x0fImageType_COLOR\x10\x02*\xfe\x01\n\x0e\x44istortionType\x12\x1c\n\x18\x44istortionType_UNDEFINED\x10\x00\x12)\n%DistortionType_MODIFIED_BROWN_CONRADY\x10\x01\x12(\n$DistortionType_INVERSE_BROWN_CONRADY\x10\x02\x12\x19\n\x15\x44istortionType_FTHETA\x10\x03\x12 \n\x1c\x44istortionType_BROWN_CONRADY\x10\x04\x12\"\n\x1e\x44istortionType_KANNALA_BRANDT4\x10\x05\x12\x18\n\x14\x44istortionType_COUNT\x10\x06\x32\xcb\x01\n\rCameraService\x12\\\n\rGetCameraInfo\x12$.aimdk.protocol.GetCameraInfoRequest\x1a%.aimdk.protocol.GetCameraInfoResponse\x12\\\n\rGetCameraData\x12$.aimdk.protocol.GetCameraDataRequest\x1a%.aimdk.protocol.GetCameraDataResponseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'protocol.hal.sensors.rs2_camera_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_IMAGETYPE']._serialized_start=715
+  _globals['_IMAGETYPE']._serialized_end=793
+  _globals['_DISTORTIONTYPE']._serialized_start=796
+  _globals['_DISTORTIONTYPE']._serialized_end=1050
+  _globals['_COMPRESSEDIMAGE']._serialized_start=57
+  _globals['_COMPRESSEDIMAGE']._serialized_end=104
+  _globals['_CAMERAINFO']._serialized_start=107
+  _globals['_CAMERAINFO']._serialized_end=263
+  _globals['_GETCAMERAINFOREQUEST']._serialized_start=265
+  _globals['_GETCAMERAINFOREQUEST']._serialized_end=354
+  _globals['_GETCAMERAINFORESPONSE']._serialized_start=356
+  _globals['_GETCAMERAINFORESPONSE']._serialized_end=421
+  _globals['_GETCAMERADATAREQUEST']._serialized_start=423
+  _globals['_GETCAMERADATAREQUEST']._serialized_end=464
+  _globals['_GETCAMERADATARESPONSE']._serialized_start=467
+  _globals['_GETCAMERADATARESPONSE']._serialized_end=713
+  _globals['_CAMERASERVICE']._serialized_start=1053
+  _globals['_CAMERASERVICE']._serialized_end=1256
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/hal/sensors/rs2_camera_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/hal/sensors/rs2_camera_pb2_grpc.py
@@ -0,0 +1,113 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from . import rs2_camera_pb2 as protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2
+
+
+class CameraServiceStub(object):
+    """*
+    @brief 由 aimrt_hal 中的 realsense_camera_module::RealsenseCameraModule 模块提供的服务
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetCameraInfo = channel.unary_unary(
+                '/aimdk.protocol.CameraService/GetCameraInfo',
+                request_serializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraInfoRequest.SerializeToString,
+                response_deserializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraInfoResponse.FromString,
+                )
+        self.GetCameraData = channel.unary_unary(
+                '/aimdk.protocol.CameraService/GetCameraData',
+                request_serializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraDataRequest.SerializeToString,
+                response_deserializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraDataResponse.FromString,
+                )
+
+
+class CameraServiceServicer(object):
+    """*
+    @brief 由 aimrt_hal 中的 realsense_camera_module::RealsenseCameraModule 模块提供的服务
+    """
+
+    def GetCameraInfo(self, request, context):
+        """*
+        @brief 获取 realsense_camera_module::RealsenseCameraModule 收到的相机内参信息。
+        @param GetCameraInfoRequest 相机序列号
+        @return GetCameraInfoResponse 相机内参
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetCameraData(self, request, context):
+        """*
+        @brief 获取 realsense_camera_module::RealsenseCameraModule 收到的相机数据，包括相机内参、彩色和深度图像信息。
+        @param GetCameraDataRequest 相机序列号
+        @return GetCameraDataResponse 详细数据
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_CameraServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetCameraInfo': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetCameraInfo,
+                    request_deserializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraInfoRequest.FromString,
+                    response_serializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraInfoResponse.SerializeToString,
+            ),
+            'GetCameraData': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetCameraData,
+                    request_deserializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraDataRequest.FromString,
+                    response_serializer=protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraDataResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.CameraService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class CameraService(object):
+    """*
+    @brief 由 aimrt_hal 中的 realsense_camera_module::RealsenseCameraModule 模块提供的服务
+    """
+
+    @staticmethod
+    def GetCameraInfo(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.CameraService/GetCameraInfo',
+            protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraInfoRequest.SerializeToString,
+            protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraInfoResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetCameraData(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/aimdk.protocol.CameraService/GetCameraData',
+            protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraDataRequest.SerializeToString,
+            protocol_dot_hal_dot_sensors_dot_rs2__camera__pb2.GetCameraDataResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)