| # message header id. if 0, it will be assigned automatically | |
| int64 id | |
| # topic name on dog's side including rt/ prefix | |
| string topic | |
| # api_id, see https://wiki.theroboverse.com/en/unitree-go2-app-console-commands#sending-commands-to-go2 | |
| int64 api_id | |
| # payload for specific api_id | |
| string parameter | |
| # priority of the message. 0 non-priority, 1 priority | |
| uint8 priority |