Locmotion Unit

Robot motion control management. It is mainly divided into the following 4 modules:

device：Hardware bridge, currently handles the MCU commands sent by the remote controller, and reads the motor and IMU sensor information from the MCU．
libraries：Third-party Library
locomotion_bringup：Robot motion control bringup file.
locomotion_msgs: Robot motion control message definition, currently only for debugging information.
tita_controllers：Inherited from controller_interface in the ros2_control framework, it processes hardware_interface data and obtains control commands to be sent to hardware_interface.
tita_description：Location for storing robot description files.
tita_webots_ros2：Location for storing the robot simulation environment, hosted at git@git.ddt.dev:rbt/alg/tita_webots_ros2.git.

Basic Information

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

Subscribed

/${tita_ns}/command/manager/cmd_key Topic type: std_msgs/msg/String Robot state machine transition: The state machine includes: transform_up, transform_down, balance, jump, idle
```
ros2 topic pub -1 /${tita_ns}/command/manager/cmd_key std_msgs/msg/String "data: 'idle'"
```

/${tita_ns}/command/manager/cmd_pose
Topic type: geometry_msgs/msg/PoseStamped Robot head position and posture control commands, including adjusting height and yaw,roll, pitch

ros2 topic pub -1 /${tita_ns}/command/manager/cmd_pose geometry_msgs/msg/PoseStamped "{
    header: {
        stamp: {
            sec: 0, 
            nanosec: 0}, 
        frame_id: 'world'}, 
    pose: 
    {
        position: {x: 0.0, y: 0.0, z: 0.1}, 
        orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
    }
    }"

/${tita_ns}/command/manager/cmd_twist Topic type: geometry_msgs/msg/Twist Robot speed control commands, including linear and angular, with only linear.x and angular.z being effective.

ros2 topic pub -1 /${tita_ns}/command/manager/cmd_twist geometry_msgs/msg/Twist "{
    linear: {x: 0.1, y: 0.0, z: 0.0}, 
    angular: {x: 0.0, y: 0.0, z: 0.1}}"

Published

/${tita_ns}/joint_states Topic type: sensor_msgs/msg/JointState Print robot joint information, including:position, velocity, effort

# ros2 topic echo /${tita_ns}/joint_states
header:
stamp:
    sec: 1728640435
    nanosec: 207354406
frame_id: ''
name:
- joint_left_leg_1
- joint_left_leg_2
- joint_left_leg_3
- joint_left_leg_4
- joint_right_leg_1
- joint_right_leg_2
- joint_right_leg_3
- joint_right_leg_4
position:
- 0.44081687927246094
- 1.0672786235809326
- -2.6032021045684814
- 2.209383249282837
- -0.5037123560905457
- 1.1171343326568604
- -2.625253915786743
- 0.26672905683517456
velocity:
- -0.0
- 0.010471980087459087
- -0.0
- 0.0
- 0.0
- -0.0
- -0.0
- -0.0
effort:
- -0.0
- 0.030666524544358253
- -0.0
- -0.02499999850988388
- 0.0
- -0.0
- -0.0
- 0.016919462010264397
---

/${tita_ns}/imu_sensor_broadcaster/imu Topic type: sensor_msgs/msg/Imu Print robot IMU sensor information, includeorientation, angular_velocity, linear_acceleration

# ros2 topic echo /${tita_ns}/imu_sensor_broadcaster/imu
header:
stamp:
    sec: 1728640659
    nanosec: 77332444
frame_id: imu
orientation:
x: -0.004162624944001436
y: 0.0013127117417752743
z: -0.12123985588550568
w: 0.9927361011505127
orientation_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:
x: -0.009841999970376492
y: -0.004255999810993671
z: -0.004788000136613846
angular_velocity_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
linear_acceleration:
x: 0.0
y: -0.08621344715356827
z: 9.785225868225098
linear_acceleration_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---