TITA-SDK-ROS2

语言：中文 / English

​ SDK Demo for TITA Ubuntu

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

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Published

ROS Topic	Interface	Frame ID	Description
command/user/command	tita_locomotion_interfaces/msg/LocomotionCmd	cmd	User SDK control instructions

Build Package

mkdir -p tita_sdk/src
cd tita_sdk/src
git clone https://github.com/DDTRobot/TITA-SDK-ROS2.git
colcon build
source install/setup.bash
ros2 launch tita_bringup sdk_launch.py

Config

Param	Range	Default	Description
sdk_max_speed	3.0	3.0	Speed limit，3.0 m/s
turn_max_speed	6.0	6.0	Rotation speed limit，6.0 rad/s
pub_freq	[100.0,170.0]	170	Release frequency, unit Hz, range [100.0,170.0]
height_max	[0.0,0.3]	0.3	Corresponding to the highest height position of the remote control, the distance between the wheel axle and the center of the vehicle body is 0.3 m
height_min	[0.0,0.3]	0.2	Corresponding to the middle height position of the remote control, the distance between the wheel axle and the center of the vehicle body is 0.2m
height_min	[0.0,0.3]	0.1	Corresponding to the lowest height position of the remote control, the distance between the wheel axle and the center of the vehicle body is 0.1 m
pitch_max_pose	1.0	1.0	The maximum pitch angle of the robot, in rad, range [-1.0,1.0]

Quick Start

• Press the small buttons on the right side of the small screen on the remote control, press it in the middle, appear, the mode select interface

• In the use button to push down, select the USE-SDK Mode Press, the robot will be automatically executed, and the use-SDK will take over the control permissions.

FAQ

1. If ros2 Launch tita_bringup sdk_launch.py ​​exits, the robot will still be executed automatically, unless the user-SDK control permissions are released
2. If the robot has no response ,angular.z value in sdk_command_node.cpp is too small