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Release v0.2.0

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@github-actions github-actions released this 30 Jul 03:13
· 32 commits to master since this release
v0.2.0
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Features

  • deprecate: delete deprecated functions that are no longer supported

  • go2: add support for RobotStateClient on ROS 2 Humble
    Now the APIs in the following list are supported:

name value example ros2 version
ROBOT_STATE_API_ID_SERVICE_SWITCH 1001 int32_t RobotStateClient::ServiceSwitch(); humble
ROBOT_STATE_API_ID_SET_REPORT_FREQ 1002 int32_t RobotStateClient::SetReportFreq(); humble
ROBOT_STATE_API_ID_SERVICE_LIST 1003 int32_t RobotStateClient::ServiceList(); humble

At the same time, you can also refer to the API implementation in example/src/src/common/ros2_robot_state_client.cpp to communicate with Go2 using ROS2 on your own. An example is in the file example/src/src/go2/g2_robot_state_client.cpp.

  • go2: add some new supported go2 sports APIs
    Now the APIs in the following list are supported:
name value example ros2 version
ROBOT_SPORT_API_ID_HEART 1036 void SportClient::Heart(); foxy humble
ROBOT_SPORT_API_ID_STATICWALK 1061 void SportClient::StaticWalk(); foxy humble
ROBOT_SPORT_API_ID_TROTRUN 1062 void SportClient::TrotRun(); foxy humble
ROBOT_SPORT_API_ID_ECONOMICGAIT 1063 void SportClient::EconomicGait(); foxy humble
ROBOT_SPORT_API_ID_LEFTFLIP 2041 void SportClient::LeftFlip(); foxy humble
ROBOT_SPORT_API_ID_BACKFLIP 2043 void SportClient::BackFlip(); foxy humble
ROBOT_SPORT_API_ID_HANDSTAND 2044 void SportClient::HandStand(); foxy humble
ROBOT_SPORT_API_ID_FREEWALK 2045 void SportClient::FreeWalk(); foxy humble
ROBOT_SPORT_API_ID_FREEBOUND 2046 void SportClient::FreeBound(); foxy humble
ROBOT_SPORT_API_ID_FREEJUMP 2047 void SportClient::FreeJump(); foxy humble
ROBOT_SPORT_API_ID_FREEAVOID 2048 void SportClient::FreeAvoid(); foxy humble
ROBOT_SPORT_API_ID_CLASSICWALK 2049 void SportClient::ClassicWalk(); foxy humble
ROBOT_SPORT_API_ID_WALKUPRIGHT 2050 void SportClient::WalkUpright(); foxy humble
ROBOT_SPORT_API_ID_CROSSSTEP 2051 void SportClient::CrossStep(); foxy humble
ROBOT_SPORT_API_ID_AUTORECOVERY_SET 2054 void SportClient::AutoRecoverySet(); foxy humble
ROBOT_SPORT_API_ID_AUTORECOVERY_GET 2055 void SportClient::AutoRecoveryGet(); humble
ROBOT_SPORT_API_ID_SWITCHAVOIDMODE 2058 void SportClient::SwitchAvoidMode(); foxy humble

At the same time, you can also refer to the API implementation in example/src/src/common/ros2.sport_cient.cpp to communicate with Go2 using ROS2 on your own. An example is in the file example/src/src/go2/go2_Sport_cient.cpp.

BREAKING CHANGE

  • The functions or API IDs in the following list are no longer supported. If you need to use a new version, please remove the following references:
API ID Macro Definition Function Name
1011 ROBOT_SPORT_API_ID_SWITCHGAIT SwitchGait()
1012 ROBOT_SPORT_API_ID_TRIGGER Trigger()
1013 ROBOT_SPORT_API_ID_BODYHEIGHT BodyHeight()
1014 ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT FootRaiseHeight()
1018 ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW TrajectoryFollow()
1019 ROBOT_SPORT_API_ID_CONTINUOUSGAIT ContinuousGait()
1021 ROBOT_SPORT_API_ID_WALLOW Wallow()
1024 ROBOT_SPORT_API_ID_GETBODYHEIGHT (No direct function)
1025 ROBOT_SPORT_API_ID_GETFOOTRAISEHEIGHT (No direct function)
1026 ROBOT_SPORT_API_ID_GETSPEEDLEVEL (No direct function)

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