Reachy 2021 messages

Custom ROS2 messages and services used by Reachy's ROS2 packages.

ROS2 Version: Foxy

How to install:

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

Messages

• ForceSensor.msg
• JointTemperature.msg
• PidGains.msg
• FanState.msg

Services

• GetArmFK.srv - Carry out the forward kinematics computation for Reachy's arm.
• GetArmIK.srv - Carry out the inverse kinematics computation for Reachy's arm.
• JointFullState.srv - Return positon, speed, effort, temperature, compliance, goal position, speed limit, torque limit and the PID gains of the requested joints.
• GetOrbitaIK.srv - Carry out the inverse kinematics computation for Orbita.
• GetQuaternionTransform.srv - Compute the quaternion to reach the requested vector in the look_out function.
• SetCameraZoomLevel.srv - Send command to the zoom of a given camera.
• SetCameraZoomSpeed.srv - Send speed to the zoom of a given camera.
• SetFanState.srv - Set the requested fans to the requested states. (True = on / False = off).
• SetJointCompliancy.srv - Set the requested joints to the requested compliance level. (True = Compliant / False = Stiff)
• SetJointPidGains.srv - Set the requested PID gains (see the joint documentation for more information on how the different values are used).
• GetReachyModel.srv - Get Reachy's configuration and mobile base version (if a mobile base is connected).

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This package is part of the ROS2-based software release of the version 2021 of Reachy.

Visit pollen-robotics.com to learn more or visit our forum if you have any questions.