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zuuu_interfaces 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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
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

ROS2 service and message definitions for Zuuu

Additional Links

No additional links.

Maintainers

  • Pollen Robotics

Authors

No additional authors.
mobile_base_controller/zuuu_interfaces/README.md

Zuuu ROS2 services

Custom ROS2 services used by Reachy’s mobile base ROS2 HAL and SDK Server.

ROS2 Version: Foxy

How to install:

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

CHANGELOG
No CHANGELOG found.

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
rosidl_default_generators
ament_cmake
rosidl_default_runtime
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Recent questions tagged zuuu_interfaces at Robotics Stack Exchange

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