机械臂本身的硬件状态定义在**HardwareStatus.msg**中。包含了树莓派的CPU温度、是否需要校准、电机的温度、电压、电机报错等信息。 HardwareStatus.msg的内容： ``` std_msgs/Header header # Raspberry Pi board int32 rpi_temperature # Robot version : 1 (previous one) or 2 (current one) int32 hardware_version # Motors bool connection_up string error_message int32 calibration_needed bool calibration_in_progress string[] motor_names string[] motor_types int32[] temperatures float64[] voltages int32[] hardware_errors ```