TITA-Interface
tita_locomotion_interfaces
Description:Custom message interface related to robot motion control.
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 6.0 , ros-humble |
LocomotionCmd.msg
Type |
Name |
Description |
|---|---|---|
|
|
ROS2 Standard Message Header |
|
|
Robot Status |
|
|
Posture control information for the robot’s torso |
|
|
Velocity control information for the robot’s chassis |
Build Package
# if have extra dependencies
# apt install <libdepend-dev>
colcon build --packages-select tita_locomotion_interfaces
tita_perception_interfaces
Description:Custom interfaces related to robot perception.
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 6.0 , ros-humble |
BoundingBox.msg
Type |
Name |
Description |
|---|---|---|
|
|
ROS2 Standard Message |
|
|
Minimum value of x in the bounding box. |
|
|
Minimum value of y in the bounding box. |
|
|
Maximum value of x in the bounding box. |
|
|
Maximum value of y in the bounding box |
|
|
Identification ID |
BoundingBox.msg
Type |
Name |
Description |
|---|---|---|
|
|
ROS2 Standard Message |
|
|
An array composed of bounding box messages |
ObjectDetection.srv
Type |
Name |
Description |
|---|---|---|
|
|
request to send a picture |
|
|
Return the recognition results |
Build Package
# if have extra dependencies
# apt install <libdepend-dev>
colcon build --packages-select tita_perception_interfaces
tita_system_interfaces
Description:Custom message interface related to robot system control.
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 6.0 , ros-humble |
FanModeSetSrv.srv
Type |
Name |
Description |
|---|---|---|
|
|
Fan mode |
|
|
return result |
风扇模式取值：
fan_mode |
Description |
|---|---|
0 |
Automatic mode |
1 |
Turn off fan |
2 |
Speed level 1 |
3 |
Speed level 2 |
4 |
Speed level 3 |
5 |
Speed level 4 |
HeadLightControlSrv.srv
Type |
Name |
Description |
|---|---|---|
bool |
is_control |
Take control |
uint32[48] |
light_rgbl_value |
Light bead RGBL value |
bool |
success |
Return result |
the value for take control：
is_control |
Description |
|---|
| false | Relinquish control | | true | Take control |
Light bead RGBL value range:
light_rgbl_value |
Description |
|---|---|
uint32[0] |
RGBL value of the first light bead |
uint32[1] |
RGBL value of the second light bead |
uint32[2] |
RGBL value of the third light bead |
uint32[…] |
Omitted |
uint32[45] |
RGBL value of the forty-fifth light bead |
uint32[46] |
RGBL value of the forty-sixth light bead |
uint32[47] |
RGBL value of the forty-seventh light bead |
Assuming uint32[0] = 0x12345678, the specific meaning of the RGBL values for the first LED bead is:
uint32[0] |
Description |
|---|---|
0x12 |
The Red value for the first LED bead is set to 0x12, with a range of 0x00 to 0xFF. |
0x34 |
The Green value for the first LED bead is set to 0x34, with a range of 0x00 to 0xFF. |
0x56 |
The Blue value for the first LED bead is set to 0x56, with a range of 0x00 to 0xFF. |
0x78 |
The Lightness value for the first LED bead is set to 0x78, with a range of 0x00 to 0xFF. |
The meaning of the values for the other LED beads follows the same logic.
TailLightControlSrv.srv
Type |
Name |
Description |
|---|---|---|
bool |
is_control |
Take control |
uint32[48] |
light_rgbl_value |
Light bead RGBL value |
bool |
success |
Return result |
the value for take control：
is_control |
Description |
|---|---|
false |
Relinquish control |
true |
Take control |
Light bead RGBL value range:
light_rgbl_value |
Description |
|---|---|
uint32[0] |
The RGBL value for the first LED bead |
uint32[1] |
The RGBL value for the second LED bead |
uint32[2] |
The RGBL value for the third LED bead |
uint32[…] |
Omitted |
uint32[33] |
The RGBL value for the thirty-third LED bead |
uint32[34] |
The RGBL value for the thirty-fourth LED bead |
uint32[35] |
The RGBL value for the thirty-fifth LED bead |
Assuming uint32[0] = 0x12345678, the specific meaning of the RGBL values for the first LED bead is:
uint32[0] |
Description |
|---|---|
0x12 |
The Red value for the first LED bead is 0x12, with a range of 0x00 to 0xFF. |
0x34 |
The Green value for the first LED bead is 0x34, with a range of 0x00 to 0xFF. |
0x56 |
The Blue value for the first LED bead is 0x56, with a range of 0x00 to 0xFF. |
0x78 |
The Lightness value for the first LED bead is 0x78, with a range of 0x00 to 0xFF. |
The same applies to the values for the other LED beads.
LegLightControlSrv.srv
Type |
Name |
Description |
|---|---|---|
bool |
is_control |
Take control |
uint8 |
target_leg_light |
Target leg light |
uint32[10] |
light_rgbl_value |
LED bead RGBL values |
bool |
success |
Result returned |
the value for take control：
is_control |
Description |
|---|---|
false |
Relinquish control |
true |
Take control |
target leg liget range：
target_leg_light |
Description |
|---|---|
1 |
Left leg light |
2 |
Right leg light |
Light bead RGBL value range:
light_rgbl_value |
Description |
|---|---|
uint32[0] |
RGBL value for the first LED bead |
uint32[1] |
RGBL value for the second LED bead |
uint32[2] |
RGBL value for the third LED bead |
uint32[…] |
Omitted |
uint32[7] |
RGBL value for the seventh LED bead |
uint32[8] |
RGBL value for the eighth LED bead |
uint32[9] |
RGBL value for the ninth LED bead |
Assuming uint32[0] = 0x12345678, the specific meaning of the RGBL values for the first LED bead is:
uint32[0] |
Description |
|---|---|
0x12 |
Placeholder value, no meaning |
0x34 |
Red value for the first LED bead is 0x12, with a range of 0x00 to 0xFF |
0x56 |
Green value for the second LED bead is 0x34, with a range of 0x00 to 0xFF |
0x78 |
Blue value for the third LED bead is 0x56, with a range of 0x00 to 0xFF |
The same applies to the values for the other LED beads.