Commond Unit

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​Description: The Command Management Module is designed to integrate both active and passive commands, and then unify them before sending them down to the robot.

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

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Subscribed

ROS Topic	Interface	Frame ID	Description
command/active/command	tita_locomotion_interfaces::msg::LocomotionCmd	joy	active commond
command/passive/command	tita_locomotion_interfaces::msg::LocomotionCmd	passive_joy	passive commond

Published

ROS Topic	Interface	Frame ID	Description
command/manager/cmd_twist	geometry_msgs::msg::Twist	/	Robot chassis motion final control commands
command/manager/cmd_pose	geometry_msgs::msg::PoseStamped	/	Final control commands for the robot’s main body posture
command/manager/cmd_key	std_msgs::msg::String	/	Final control commands for the robot’s status