https://github.com/pollen-robotics/zuuu_interfaces
https://github.com/pollen-robotics/zuuu_interfaces
Last synced: about 1 month ago
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- Host: GitHub
- URL: https://github.com/pollen-robotics/zuuu_interfaces
- Owner: pollen-robotics
- Created: 2022-06-02T09:30:07.000Z (almost 3 years ago)
- Default Branch: master
- Last Pushed: 2022-07-20T07:21:16.000Z (almost 3 years ago)
- Last Synced: 2025-02-16T14:58:29.880Z (3 months ago)
- Language: CMake
- Size: 10.7 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Zuuu ROS2 services
Custom 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).
**ROS2 Version: Foxy**
How to install:
```bash
cd ~/reachy_ws/src
git clone https://github.com/pollen-robotics/zuuu_interfaces.git
cd ~/reachy_ws/
colcon build --packages-select zuuu_interfaces
```
## Services
* **DistanceToGoal.srv** - Return delta x, delta y, delta theta and distance from the last goal position sent using GoToXYTheta.
* **GetBatteryVoltage.srv** - Get the mobile base's battery voltage.
* **GetOdometry.srv** - Get the mobile base's odometry.
* **GetZuuuMode.srv** - Get the mobile base's drive mode.
* **GoToXYTheta.srv** - Send GoTo instruction to the mobile base.
* **IsGoToFinished.srv** - Return if the mobile base has reached the goal of its last GoTo sent, modulo tolerances along x, y and theta.
* **ResetOdometry.srv** - Reset the mobile base's odometry.
* **SetSpeed.srv** - Send velocities commands to the mobile base.
* **SetZuuuMode.srv** - Set the mobile base's drive mode.
* **SetZuuuSafety.srv** - Disable / enable the mobile base's anti-collision safety provided by the Lidar.
---
This package is part of the July 2022's ROS2-based software release of the mobile base working with Reachy 2021.
Visit [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.