Spot Driver Available Interfaces

Actions

/execute_dance

/manipulation

/navigate_to

/robot_command

/trajectory

Services

/arm_carry

Trigger service to move the arm to the "carry" position

/arm_stow

Trigger service to stow the arm

/arm_unstow

Trigger service to unstow the arm to the "ready" position

/claim

/clear_behavior_fault

/close_gripper

Trigger service to close the claw gripper

/delete_logpoint

/delete_sound

/dock

Dock the robot. The service requires the dock_id which is a number printed on the fiducial at the dock.

/estop/gentle

/estop/hard

/estop/release

/get_choreography_status

/get_gripper_camera_parameters

/get_inverse_kinematic_solutions

/get_led_brightness

/get_logpoint_status

/get_ptz_position

/get_volume

/graph_nav_clear_graph

/graph_nav_get_localization_pose

/graph_nav_set_localization

/graph_nav_upload_graph

/initialize_lens

/list_all_dances

/list_all_moves

/list_cameras

/list_graph

/list_logpoints

/list_ptz

/list_sounds

/list_world_objects

/load_sound

/locomotion_mode

/max_velocity

/open_gripper

/override_grasp_or_carry

/play_sound

/power_off

Trigger service to power the motors off

/power_on

Trigger service to power the motors on

/recorded_state_to_animation

/release

/retrieve_logpoint

/robot_command

/rollover

/self_right

/set_gripper_camera_parameters

/set_led_brightness

/set_ptz_position

/set_volume

/sit

Trigger service to make the robot sit down

/spot_check

Trigger to run the spot check service

/stair_mode

Set a boolean to indicate if the robot should be in stair mode

/stand

Trigger service to make the robot stand up

/start_recording_state

/stop

Trigger service to make the robot stop executing a command

/stop_dance

CHOREOGRAPHY: Trigger service to stop execution of a dance

/stop_recording_state

/store_logpoint

/tag_logpoint

/take_lease

/undock

Trigger service to undock the robot

/upload_animation

/upload_sequence

Topics

/arm_joint_commands

/body_pose

/cmd_vel

/joint_states

/manipulation_state

/odometry

/odometry/twist

/parameter_events

/robot_description

/rosout

/status/battery_states

/status/behavior_faults

/status/end_effector_force

/status/estop

/status/feedback

/status/feet

/status/leases

/status/metrics

/status/mobility_params

/status/power_states

/status/system_faults

/status/wifi

/tf

/tf_static