Contains the actions, messages and other communication objects used for Ryder robots.
Events provided to interfaces are represented by int32, and are defined beneath.
| ID |
CONSTANT |
SENSOR |
DESCRIPTION |
| 200 |
MSP_SET_RAW_RC |
Motors |
Sets motors |
| ID |
CONSTANT |
SENSOR |
DESCRIPTION |
| 100 |
MSP_IDENT |
NA |
protocol version + capability variable |
| 102 |
MSP_RAW_IMU |
IMU |
Monitor IMU details |
| 104 |
MSP_MOTOR |
MOTORS |
Set, or monitor motors |
| 105 |
MSP_RAW_SENSORS |
Range |
Range sensors |
| Message |
Description |
| Action |
Represents a command action with an event ID |
| Motor |
Individual motor state (direction and PWM) |
| Motors |
Array of Motor messages sent on a single topic |
| MotorResponse |
Motor controller encoder feedback (velocity, pulses, health) |
| FeatureSet |
Feature set data |
| StateFrame |
State frame data |
| Action |
Description |
| MonitorImuAction |
Monitor IMU details |
| Service |
Description |
| State |
State service |
| SensorCmd |
Sensor command service |
| Monitor |
Monitor service |
curl -fsSL https://ryder-robots.github.io/rr-apt/public.gpg | sudo gpg --dearmor -o /usr/share/keyrings/rr-apt.gpg
echo "deb [signed-by=/usr/share/keyrings/rr-apt.gpg] https://ryder-robots.github.io/rr-apt noble main" | sudo tee /etc/apt/sources.list.d/rr-apt.list
# Install
sudo apt update
sudo apt install ros-kilted-rr-interfaces
or
mkdir -p ~/rr_quadx_ws
cd ~/rr_quadx_ws
mkdir -p src
cd src
git clone git@github.com:Ryder-Robots/rr_interfaces.git
cd ~/rr_quadx_ws
colcon build --packages-select rr_interfaces --packages-up-to rr_interfaces
source install/local_setup.bash
ros2 interface list | grep rr_interfaces
Output should show
- rr_interfaces/action/MonitorImuAction
- rr_interfaces/msg/Action
- rr_interfaces/msg/FeatureSet
- rr_interfaces/msg/Motor
- rr_interfaces/msg/MotorResponse
- rr_interfaces/msg/Motors
- rr_interfaces/msg/StateFrame
- rr_interfaces/srv/Monitor
- rr_interfaces/srv/SensorCmd
- rr_interfaces/srv/State