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Version: QTrobot V3

Gesture

The /qtrobot/gesture/... services play, record, and stop pre-built keyframe motions. These examples assume the gateway from Connection is already running.

List available gestures​

ros2 service call /qtrobot/gesture/file/list qtrobot_interfaces/srv/GestureFileList "{}"

Play a gesture​

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from qtrobot_interfaces.srv import GestureFilePlay, GestureCancel


class GestureClient(Node):
    def __init__(self):
        super().__init__('gesture_client')
        self.play_client = self.create_client(GestureFilePlay, '/qtrobot/gesture/file/play')
        self.cancel_client = self.create_client(GestureCancel, '/qtrobot/gesture/cancel')
        self.play_client.wait_for_service(timeout_sec=5.0)

    def play(self, gesture: str, speed_factor: float = 1.0):
        future = self.play_client.call_async(GestureFilePlay.Request(gesture=gesture, speed_factor=speed_factor))
        rclpy.spin_until_future_complete(self, future)
        return future.result()

    def cancel(self):
        future = self.cancel_client.call_async(GestureCancel.Request())
        rclpy.spin_until_future_complete(self, future)
        return future.result()


def main():
    rclpy.init()
    node = GestureClient()
    node.play('QT/send_kiss')
    node.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()

Gesture names follow the <group>/<name> pattern returned by /qtrobot/gesture/file/list, such as QT/send_kiss — the same naming convention used by face/emotion. Gestures live as files on the robot; there's no service to delete them remotely.

Play raw keyframes​

ros2 service call /qtrobot/gesture/play qtrobot_interfaces/srv/GesturePlay \
    "{keyframes: '{\"HeadYaw\": [0, 20, 0], \"HeadPitch\": [0, -10, 0]}', rate_hz: 10.0, speed_factor: 1.0, resample: true}"

keyframes is a JSON-encoded dict mapping each motor name to a list of target positions, played back at rate_hz.

Cancel a gesture​

ros2 service call /qtrobot/gesture/cancel qtrobot_interfaces/srv/GestureCancel "{}"

Record a new gesture​

ros2 service call /qtrobot/gesture/record/start qtrobot_interfaces/srv/GestureRecordStart \
    "{motors: '[\"HeadYaw\", \"HeadPitch\"]', timeout_ms: 10000, release_motors: true}"

# ... move the robot's head by hand ...

ros2 service call /qtrobot/gesture/record/stop qtrobot_interfaces/srv/GestureRecordStop "{}"
ros2 service call /qtrobot/gesture/record/store qtrobot_interfaces/srv/GestureRecordStore "{gesture: 'QT/my_gesture'}"

release_motors: true lets you physically move the joints by hand while recording (no torque holding them in place) — the same parameter the Python and TypeScript SDKs expose.

Gesture progress​

ros2 topic echo /qtrobot/gesture/progress/stream

GestureProgressFrame reports playback progress as a 0–100% value alongside elapsed time in microseconds, the same shape used by MotorJointsStateFrame (see Motor) — subscribe to it the same way.

Next steps​

Continue with the Speaker tutorial, or see the full gesture namespace in the ROS2 API Reference.