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Spot Driver Available Interfaces
Trigger service to move the arm to the "carry" position
Trigger service to stow the arm
Trigger service to unstow the arm to the "ready" position
Trigger service to close the claw gripper
Dock the robot. The service requires the dock_id which is a number printed on the fiducial at the dock.
Trigger service to power the motors off
Trigger service to power the motors on
Trigger service to make the robot sit down
Trigger to run the spot check service
Set a boolean to indicate if the robot should be in stair mode
Trigger service to make the robot stand up
Trigger service to make the robot stop executing a command
CHOREOGRAPHY: Trigger service to stop execution of a dance
Trigger service to undock the robot
Publish to this topic to command the joint angles of the arm. The type of the message is sensor_msgs/msg/JointState. It should contain the names [arm_sh0, arm_sh1, arm_el0, arm_el1, arm_wr0, arm_wr1, arm_f1x] and desired positions for each element. (Velocity and effort components of the joint state message are not used!)
Publish to this topic to command the robot's body to move to a desired pose relative to the nominal standing pose without moving its feet. Only the z component of the position component is used. The orientation component will attempt to twist the body.
Publish to this topic to command the robot to walk at a given velocity. Only the x and y components of the linear twist are used, and only the z component of the angular twist is used.
Reports on if the gripper is open/closed, if the arm is stowed/unstowed, if the arm is carrying anything, and the velocity of the end effector in different frames.
Gives the position and velocity of the robot in either the odom or vision frame
Gives the velocity of the robot in either the odom or vision frame
Reports the status of the battery, including current charge.
Reports on a list of faults that the robot is currently experiencing. (Ideally this list is empty).
Reports on the estimated force at the end effector
Reports on the estops that are currently active on the robot.
Reports on whether the robot is sitting, standing, or moving.
Reports on the location of each foot with respect to the body frame, as well as if each foot is in contact with the floor.
Reports on the status of each lease on the robot, including who owns them.
Reports on how long the robot has been on and how far it has traveled since then.
Reports on current mobility parameters for the robot -- including if it is in stair mode, and what kind of gait is set.
Indicates what kind of power state the motors are in (powered, powering on/off, etc)
Reports on if there are any active system faults on the robot
Reports on the wifi connection of the robot