Motion Control

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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.

Note

First, you need to open the API calling interface vim /usr/share/tita_bringup/params/default_param.yaml change locomotion_manager’s control_motion_mode value 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
MsgType： 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
MsgType： 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

Note

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
MsgType： 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

Note

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