{"id":18456431,"url":"https://github.com/pollen-robotics/zuuu_interfaces","last_synced_at":"2026-02-11T11:02:51.290Z","repository":{"id":83155690,"uuid":"499073075","full_name":"pollen-robotics/zuuu_interfaces","owner":"pollen-robotics","description":null,"archived":false,"fork":false,"pushed_at":"2022-07-20T07:21:16.000Z","size":11,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-08-16T11:48:18.459Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/pollen-robotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-06-02T09:30:07.000Z","updated_at":"2022-07-20T07:21:48.000Z","dependencies_parsed_at":null,"dependency_job_id":"537e02a8-7741-448b-a2a8-a5bf39c152b0","html_url":"https://github.com/pollen-robotics/zuuu_interfaces","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/pollen-robotics/zuuu_interfaces","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fzuuu_interfaces","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fzuuu_interfaces/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fzuuu_interfaces/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fzuuu_interfaces/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/pollen-robotics","download_url":"https://codeload.github.com/pollen-robotics/zuuu_interfaces/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fzuuu_interfaces/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29332292,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-11T06:13:03.264Z","status":"ssl_error","status_checked_at":"2026-02-11T06:12:55.843Z","response_time":97,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-06T08:11:30.626Z","updated_at":"2026-02-11T11:02:51.268Z","avatar_url":"https://github.com/pollen-robotics.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Zuuu ROS2 services\n\nCustom ROS2 services used by Reachy's mobile base ROS2 [HAL](https://github.com/pollen-robotics/zuuu_hal/) and [SDK Server](https://github.com/pollen-robotics/mobile_base_sdk_server).\n\n**ROS2 Version: Foxy**\n\nHow to install:\n\n```bash\ncd ~/reachy_ws/src\ngit clone https://github.com/pollen-robotics/zuuu_interfaces.git\ncd ~/reachy_ws/\ncolcon build --packages-select zuuu_interfaces\n```\n\n## Services\n* **DistanceToGoal.srv** - Return delta x, delta y, delta theta and distance from the last goal position sent using GoToXYTheta. \n* **GetBatteryVoltage.srv** - Get the mobile base's battery voltage.\n* **GetOdometry.srv** - Get the mobile base's odometry.\n* **GetZuuuMode.srv** - Get the mobile base's drive mode.\n* **GoToXYTheta.srv** - Send GoTo instruction to the mobile base.\n* **IsGoToFinished.srv** - Return if the mobile base has reached the goal of its last GoTo sent, modulo tolerances along x, y and theta.\n* **ResetOdometry.srv** - Reset the mobile base's odometry.\n* **SetSpeed.srv** - Send velocities commands to the mobile base.\n* **SetZuuuMode.srv** - Set the mobile base's drive mode.\n* **SetZuuuSafety.srv** - Disable / enable the mobile base's anti-collision safety provided by the Lidar.\n\n---\nThis package is part of the July 2022's ROS2-based software release of the mobile base working with Reachy 2021.\n\nVisit [pollen-robotics.com](https://pollen-robotics.com) to learn more or join our [Dicord community](https://discord.com/invite/Kg3mZHTKgs) if you have any questions or want to share your ideas.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpollen-robotics%2Fzuuu_interfaces","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpollen-robotics%2Fzuuu_interfaces","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpollen-robotics%2Fzuuu_interfaces/lists"}