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.

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