Motion Control

TITA controls robot movement services and provides machine status data to users through a ROS2 plugin. This plugin offers the necessary API interfaces, converting control information into ROS message

First, you need to open the API calling interface.

vim /usr/share/tita_bringup/params/default_param.yaml
Change the `control_motion_mode` field in `locomotion_manager` to `1`.
 0: controller control moded
 1: api control mode
 2: autonomy control mode

Stand

Function Overview：Enter the standing mode to control the standing posture.

Topic：command/controller/lock

Msg Type：tita_motion_msgs/msg/ControllerCommandLock

Code Example：ros2 topic pub /tita2303895/command/controller/lock tita_motion_msgs/msg/ControllerCommandLock "{lock_state: 2}" -1

Height

Function Overview：Control the robot's postural elevation through programming.

Topic：locomotion/move_target/height

Msg Type：tita_motion_msgs/msg/Height

Code Example：ros2 topic pub -r 30 /{ns}/locomotion/move_target/height tita_motion_msgs/msg/Height "{height: 0.2}"

Value Range：height max 0.30 min 0.09

Notices：Sending frequency ≥ 30 HZ.

Pitch and Roll

Function Overview：Pitch and roll commands need to be sent simultaneously; Currently Control: linear.x forward and backward velocity, angular.z left and right turn velocity, linear.y roll angular velocity, angular.y pitch angular velocity; Not Used (set as empty): linear.z and angular.x.

Topic：command/controller/api/move

Msg Type：geometry_msgs/msg/TwistStamped

Code Example：ros2 topic pub /{ns}/command/controller/api/move geometry_msgs/msg/TwistStamped "{ twist: {linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"

Value Range：

linear x min : ±0.82. max ±1.52

twist.angular.z min: ±0.42 max ±1.42

height min: 0.09 max: 0.30

linear.y: ±0.942(0.3 * PI)

angular.y: ±0.2

Notices：Sending frequency ≥ 30 HZ.

Jump

Function Overview：This API is used to control the robot's jumping action.

Topic：command/controller/jump

Msg Type：tita_motion_msgs/msg/ControllerCommandJump

Code Example：ros2 topic pub /{ns}/command/controller/jump tita_motion_msgs/msg/ControllerCommandJump "{jump_state: 2}" -1

Value Range：

jump_state = JUMP 0x02

IDLE 0x00 /CHARGE 0x01 /JUMP 0x02

Machine Status

Function Overview：This interface is for monitoring the current posture of the machine, allowing you to know whether the current machine status and feedback information match.

Topic：locomotion/locomotion_status

Msg Type：tita_motion_msgs::msg::LocomotionStatus

Code Example：ros2 topic echo /{ns}/locomotion/locomotion_status

Value Range：

DIE = 0x00

INIT = 0x01

TRANSFORM_UP =0x02

STAND = 0x03

TRANSFORM_DOWN = 0x04

CRASH = 0x05

SUSPENDING = 0x06

JUMP = 0x07