High Level Motion Service Interface

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Introduction

High level control interface: Send speed control, attitude control and other motion instructions to Daystar Robot by calling ROS2 Topic/ROS2 Service/C ++ function.

Function	C++	ROS
Up and down enable	✔
Control movement direction and speed	✔	✔
Adjusting standing height	✔	✔
Set the current running scenario	✔	✔
Demo Mode Control	✔
Adjust the operating speed	✔
Software Emergency Stop	✔
Recovery software emergency stop	✔
Set control mode	✔	✔

Upward and Downward Enable

C++ Interface

rcClientInterfaceDriverEnable Introduction

/**
 * @brief Control the upper and lower enable interfaces of the robot.。
 * 
 * This function is used to enable or disable the driver of the robot
 * 
 * @param from Specify the operating mode (navigation or joystick)
 * @param driver_enable Specify to enable (true) or disable (false) the driver
 * @return bool A return of'true` indicates that the operation was successful, and a return of`false' indicates that the operation failed.
 */
bool rcClientInterfaceDriverEnable(robot_control::common::NAV_OR_JOY_MODE from, bool driver_enable);

use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
bool enable = true;
bool success = rcClientInterfaceDriverEnable(mode, enable);
if (success) {
    std::cout << "Driver Enable Command Successful." << std::endl;
} else {
    std::cout << "Failed to Enable Driver." << std::endl;
}

Control Movement Direction and Speed

C++ Interface

rcClientInterfaceDirectionMovement

/**
 * @brief Set the instructions for the direction and speed of movement of the robot (front, rear, left, right, and steering).
 * 
 * This function is used to control the direction and speed of movement of the robot.
 * 
 * @param from Specify the mode of operation (navigation or joystick)
 * @param rc_direct Specify the direction and speed of movement of the robot.
 * @return bool Returns `true` for a successful operation or `false` for a failed operation.
 */
bool rcClientInterfaceDirectionMovement(robot_control::common::NAV_OR_JOY_MODE from,
            common::ROBOT_TWIST rc_direct, int64_t time_millis);

Use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
// 获取机器人状态
common::ROBOT_COMMON_STATUS status;
rcClientInterfaceGetCommonStatus(&status);
// 设置以0.5m/s的速度往前行走(示例值)
common::ROBOT_TWIST direction = {{0.5, 0.0, 0.0}, {0.0, 0.0, 0.0}};
bool success = rcClientInterfaceDirectionMovement(mode, direction, status.heartbeat);
if (success) {
    std::cout << "Direction Movement Command Successful." << std::endl;
} else {
    std::cout << "Failed to Command Direction Movement." << std::endl;
}

Note: For the complete case code, please refer to the Creating a Client Application chapter in the Application Development module.

ROS2 Interface

This interface is used to subscribe to ROS2 /cmd_vel topic to obtain the speed command of the robot movement.

Topic Name	Topic type	role
/cmd_vel	geometry_msgs::msg::Twist	subscriber

Message structure

geometry_msgs::msg::Twist include the following fields:

• linear : contains x , y , z , which represents the line speed.

• angular : contains x , y , z , which represents the angular velocity.

Sample message

geometry_msgs::msg::Twist twist_msg;
twist_msg.linear.x = 0.1;
twist_msg.linear.y = 0.0;
twist_msg.linear.z = 0.0;
twist_msg.angular.x = 0.0;
twist_msg.angular.y = 0.0;
twist_msg.angular.z = 0.0;

test Method

• publish a one-time message Use the following command to publish a one-time message to /cmd_vel topic:

ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

• continued release of messages Use the following command to continuously publish messages to /cmd_vel topic:

ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Precautions

• make sure the ROS2 node is up and subscribing /cmd_vel topic.

• the format of the published message must be strictly geometry_msgs::msg::Twist the definition of the message type.

• when continuously publishing messages, pay attention to controlling the publishing frequency to avoid network congestion.

Adjusting Standing Height

C++ Interface

rcClientInterfaceBodyHighAdjust Introduction

/**
 * @brief An interface for adjusting the standing height of the robot.
 * 
 * This function is used to adjust the standing height of the robot.
 * 
 *@param from specifies the operating mode (navigation or joystick). 
 *@ param scale specifies the proportion of height adjustment. Positive values indicate an increase in height and negative values indicate a decrease in height. 
 *@return bool return
 */
bool rcClientInterfaceBodyHighAdjust(robot_control::common::NAV_OR_JOY_MODE from, int scale);

Use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
int height_adjustment = 10; // 示例值，表示增加高度
bool success = rcClientInterfaceBodyHighAdjust(mode, height_adjustment);
if (success) {
    std::cout << "Body Height Adjustment Successful." << std::endl;
} else {
    std::cout << "Failed to Adjust Body Height." << std::endl;
}

precautions

• ensure that the incoming operation mode and height adjustment scale height_adjustment are integers in the range of 0 to 100.

ROS2 Interface

The service is used to adjust the height of the robot's body.

Service Name	Service type	role
/saturn/rc_height_scale	saturn_msgs::srv::HeightScale	client

request Message

saturn_msgs::srv::HeightScale::Request the message type contains the following fields:

• scale integer type, representing the Height Scale

sample message

saturn_msgs::srv::HeightScale::Request request;
request.scale = 8;

saturn_msgs::srv::HeightScale::Response response;

Test Method

ros2 service call /saturn/rc_height_scale saturn_msgs/srv/HeightScale "{scale: 8}"

Set the Current Running Scenario

C++ Interface

rcClientInterfaceSetScene Introduction

/**
* @brief Sets the interface for the current running scene of the robot (stand, down, stairs).
*
* This function is used to set the current running scene of the robot.
*
* @param from Specify the operation mode (navigation or joystick).
* @param scene Specifies the scene type (stand, down, stairs).
* @return bool Returns `true` for a successful setup, `false` for a failed setup.
*/
bool rcClientInterfaceSetScene(robot_control::common::NAV_OR_JOY_MODE from, common::SCENE_TYPE scene);

Use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
common::SCENE_TYPE scene = common::WALKING; // 示例值，表示站立场景
bool success = rcClientInterfaceSetScene(mode, scene);
if (success) {
    std::cout << "Scene Set Successfully." << std::endl;
} else {
    std::cout << "Failed to Set Scene." << std::endl;
}

ROS2 Interface

The service is used to adjust the height of the robot's body.

Service Name	Service type	role
/saturn/robot_command	ysc_robot_msgs::srv::RobotCommand	client

Request Message

ysc_robot_msgs::srv::RobotCommand::Request the message type contains the following fields:

• command_name string, representing the specific command

sample message

saturn_msgs::srv::HeightScale::Request request;
request.scale = "StairsGait"; //楼梯步态

saturn_msgs::srv::HeightScale::Response response;

test Method

ros2 service call /saturn/robot_command ysc_robot_msgs/srv/Robot_Command "{command_name: 'StairsGait'}"

Demo Mode Control

C++ Interface

rcClientInterfaceDemoControl Introduction

/**
* @brief Demo mode control.
*
* This function is used to control the robot to enter or exit demo mode.
*
* @param from Specifies the operation mode (navigation or joystick).
* @param mode Specifies the demo mode (2:head shake 3:tail swing 4:wave)
* @param enable Specifies whether to enable demo mode (true means on, false means off).
* @return bool Return `true` for successful control, `false` for failed control.
*/
bool rcClientInterfaceDemoControl(
    common::NAV_OR_JOY_MODE from,
    int mode,
    bool enable);

use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
int demo_mode = 2; // 示例值，表示演示模式
bool enable_demo = true; // 示例值，表示开启演示模式
bool success = rcClientInterfaceDemoControl(mode, demo_mode, enable_demo);
if (success) {
    std::cout << "Demo Mode Control Set Successfully." << std::endl;
} else {
    std::cout << "Failed to Set Demo Mode Control." << std::endl;
}

Precautions

• ensure that the incoming presentation mode and enabled state are valid.

Adjust the Operating Speed

C++ Interface

rcClientInterfaceSpeedAdjust Introduction

/**
* @brief Interface to regulate the running speed of the robot.
*
* This function is used to adjust the running speed of the robot.
*
* @param from Specifies the operation mode (navigation or joystick).
* @param scale Specifies the scale to adjust the speed (range 1-100).
* @return bool Returns `true` for successful adjustment, `false` for failed.
*/
bool rcClientInterfaceSpeedAdjust(robot_control::common::NAV_OR_JOY_MODE from, int scale);

Use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
int speed_adjustment = 5; // 示例值，表示增加速度
bool success = rcClientInterfaceSpeedAdjust(mode, speed_adjustment);
if (success) {
    std::cout << "Speed Adjustment Successful." << std::endl;
} else {
    std::cout << "Failed to Adjust Speed." << std::endl;
}

Software Emergency Stop

C++ Interface

rcClientInterfaceDriverSoftEstop Introduction

/**
* @brief Software emergency stop interface.
*
* This function is used to trigger the robot to perform a software emergency stop operation.
*
* @param from Specifies the mode of operation (navigation or joystick).
* @return bool Returns `true` for a successful software stop, `false` for a failed one.
*/
bool rcClientInterfaceDriverSoftEstop(robot_control::common::NAV_OR_JOY_MODE from);

use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
bool success = rcClientInterfaceDriverSoftEstop(mode);
if (success) {
    std::cout << "Soft Estop Command Successful." << std::endl;
} else {
    std::cout << "Failed to Command Soft Estop." << std::endl;
}

Recovery Software Emergency Stop

C++ Interface

rcClientInterfacercResumeSoftEstop Introduction

/**
* @brief Restore software emergency stop interface.
*
* This function is used to trigger the robot to resume the software emergency stop state.
*
* @param from Specifies the mode of operation (navigation or joystick).
* @return bool Returns `true` to indicate that resuming a software emergency stop was successful, `false` to indicate that resuming a software emergency stop failed.
*/
bool rcClientInterfacercResumeSoftEstop(robot_control::common::NAV_OR_JOY_MODE from);

Use Case

robot_control::common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
bool success = rcClientInterfacercResumeSoftEstop(mode);
if (success) {
    std::cout << "Resume Soft Estop Command Successful." << std::endl;
} else {
    std::cout << "Failed to Resume Soft Estop." << std::endl;
}

Set Control Mode

The service sets the mode of controlling the robot, switching to manual or navigation mode.

C++ Interface

rcClientInterfaceSetNavOrJoyControl Introduction

/**
* @brief Set the navigation control or remote control mode.
*
* This function is used to set the robot to navigation control mode or remote control mode.
*
* @param nav_joy Specifies the control mode (nav or joystick).
* @return bool Returns `true` for a successful setup, `false` for a failed setup.
*/
bool rcClientInterfaceSetNavOrJoyControl(common::NAV_OR_JOY_MODE nav_joy);

Use Case

common::NAV_OR_JOY_MODE mode = robot_control::common::NAV_OR_JOY_MODE::joy_control;
bool success = rcClientInterfaceSetNavOrJoyControl(mode);
if (success) {
    std::cout << "Nav or Joy Control Set Successfully." << std::endl;
} else {
    std::cout << "Failed to Set Nav or Joy Control." << std::endl;
}

Precautions

• ensure that the incoming control mode is valid.

• set robot pose

ROS2 Interface

Service Name	Service type	role
/saturn/robot_command	ysc_robot_msgs::srv::RobotCommand	client

request Message

ysc_robot_msgs::srv::RobotCommand::Request The message type contains the following fields:

• command_name String, representing the specific command
  • EnableNavigation Indicates the navigation mode
  • EnableTeleoption Indicates the lever control mode.

Sample message

saturn_msgs::srv::HeightScale::Request request;
request.scale = "EnableNavigation"; //导航

saturn_msgs::srv::HeightScale::Response response;

Test Method

ros2 service call /saturn/rc_nav_or_manual saturn_msgs/srv/NavOrManual "{command_name: 'EnableNavigation'}"