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mobile_base_sdk_server package from reachy_2023 repo

camera_controllers dynamic_state_router gripper_safe_controller mobile_base_sdk_server rplidar_ros2 zuuu_description zuuu_hal zuuu_interfaces pid_command_controller reachy_bringup arm_system_hwi fans_controller head_system_hwi neck_system_hwi arm_hwi head_hwi neck_hwi reachy_description reachy_fake reachy_gazebo reachy_gazebo_gripper_glue reachy_kdl_kinematics reachy_msgs reachy_sdk_server reachy_utils

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pollen-robotics/reachy_2023.git
VCS Type git
VCS Version develop
Last Updated 2025-03-27
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • reachy

Authors

No additional authors.
mobile_base_controller/mobile_base_sdk_server/README.md

SDK Server for Reachy’s 2021 Mobile Base

ROS2 package:

  • using the topics and services defined in the mobile base’s HAL to get mobile base information (e.g. ododmetry, battery level, control mode, drive mode, …) and send mobility commands,
  • handling mobile base grpc services defined in mobile_platform_reachy.proto.

ROS2 Version: Foxy

Dependencies: reachy_sdk_api, zuuu_interfaces, grpcio, grpcio-tools, protobuf.

Installation

cd ~/reachy_ws/src
git clone https://github.com/pollen-robotics/mobile_base_sdk_server.git
cd ~/reachy_ws/
colcon build --packages-select mobile_base_sdk_server

GRPC services handled

  • SendDirection - Send velocities commands to the mobile base for a predifined period of time.
  • SendSetSpeed - Send velocities commands to the mobile base.
  • SendGoTo - Send GoTo instruction to the mobile base.
  • DistanceToGoal - Return delta x, delta y, delta theta and distance from the last goal position sent using SendGoTo.
  • SetControlMode - Set the mobile base’s control mode.
  • GetControlMode - Get the mobile base’s control mode.
  • SetZuuuMode - Set the mobile base’s drive mode.
  • GetZuuuMode - Get the mobile base’s drive mode.
  • GetBatteryLevel - Get the mobile base’s battery voltage.
  • GetOdometry - Get the mobile base’s odometry.
  • ResetOdometry - Reset the mobile base’s odometry.
  • SetZuuuSafety - Disable / enable the mobile base’s anti-collision safety provided by the Lidar.
  • GetMobileBasePresence - Return if a mobile base is specified in Reachy’s config file. If yes, return the mobile base’s version.

Launch files

  • mobile_base_sdk_server.launch.py - Launch mobile_base_sdk_server node.
  • run_mobile_base_sdk_server_and_hal.launch.py - Launch the mobile base’s HAL nodes and the mobile_base_sdk_server node.

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 to learn more or join our Dicord community if you have any questions or want to share your ideas.

CHANGELOG
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Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_copyright
ament_flake8
ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

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Launch files

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Messages

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Services

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Plugins

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