Added srv

Signed-off-by: Juancams <[email protected]>

.github/workflows/humble_devel.yaml

@@ -23,7 +23,7 @@ jobs:
       - name: Build ROS 2 package
         uses: ros-tooling/[email protected]
         with:
-          package-name: go2_robot go2_description go2_bringup go2_driver go2_hardware go2_simulation unitree_api unitree_go
+          package-name: go2_robot go2_description go2_bringup go2_driver go2_hardware go2_simulation unitree_api unitree_go go2_interfaces
           target-ros2-distro: humble
           colcon-defaults: |
             {

go2_interfaces/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.8)
+project(go2_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/BodyHeight.srv"
+  "srv/ContinuousGait.srv"
+  "srv/Euler.srv"
+  "srv/FootRaiseHeight.srv"
+  "srv/Mode.srv"
+  "srv/Pose.srv"
+  "srv/SpeedLevel.srv"
+  "srv/SwitchGait.srv"
+  "srv/SwitchJoystick.srv"
+  DEPENDENCIES
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

go2_interfaces/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href=""?>
+<package format="3">
+  <name>go2_interfaces</name>
+  <version>0.0.1</version>
+  <description>Go2 Interfaces</description>
+  <maintainer email="[email protected]">Juan Carlos Manzanares</maintainer>
+  <license>BSD 3-Clause License</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>rosidl_default_generators</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

go2_interfaces/srv/BodyHeight.srv

@@ -0,0 +1,6 @@
+# Set the relative height of the body above the ground when standing and walking.
+float32 height
+
+---
+bool success
+string message

go2_interfaces/srv/ContinuousGait.srv

@@ -0,0 +1,6 @@
+# Continuous movement
+
+bool flag
+
+---
+bool success

go2_interfaces/srv/Euler.srv

@@ -0,0 +1,9 @@
+# Posture when standing and walking
+
+float32 roll
+float32 pitch
+float32 yaw
+
+---
+bool success
+string message

go2_interfaces/srv/FootRaiseHeight.srv

@@ -0,0 +1,7 @@
+# Set the relative height of foot lift during movement
+
+float32 height
+
+---
+bool success
+string message

go2_interfaces/srv/Mode.srv

@@ -0,0 +1,5 @@
+string mode
+
+---
+bool success
+string message

go2_interfaces/srv/Pose.srv

@@ -0,0 +1,6 @@
+# Set true to pose and false to restore
+
+bool flag
+
+---
+bool success

go2_interfaces/srv/SpeedLevel.srv

@@ -0,0 +1,7 @@
+# Set the speed range
+
+int32 level
+
+---
+bool success
+string message

go2_interfaces/srv/SwitchGait.srv

@@ -0,0 +1,13 @@
+# Switch gait
+
+int32 IDLE = 0
+int32 TROT = 1
+int32 TROT_RUN_NING = 2
+int32 FORWARD_CLIMBING_MODE = 3
+int32 REVERSE_CLIMBING_MODE = 4
+
+int32 d
+
+---
+bool success
+string message

go2_interfaces/srv/SwitchJoystick.srv

@@ -0,0 +1,6 @@
+# Native remote control response switch
+
+bool flag
+
+---
+bool success