ROS2 SDK Server

[Simon]

Hi Romain,

To answer your questions one by one.

@RomainM

So if we want to have a ROS high level service similar to the StreamFullBodyCartesianCommands grpc service that, sets the joints to the requested positions given targets in cartesian coordinate system, we need to implement it by ourselves by calling one by one the appropriate and provided Reachy ROS2 driver services, topics etc ?

Yes.

@RomainM

Moving the head given a x, y, z cartesian coordinate would then requires for example to call the service look_vector_to_quaternion, then use the outputed quaternion to call the head inverse kinematics service to get the corresponding neck disk positions, then call the set_joint_compliancy service to set each disk non compliant and finally publish to the topic joint_goals the neck disk positions obtained with the head inverse kinematic service. Am I right ?

Yes exactly. That is actually what the look_at method from ReachySDK is doing.

@RomainM

Or maybe an even simpler way would be to create a service running reachy sdk python code directly. Would it be possible to connect to reachy inside a service callback using the ReachySDK class ?

I don’t know if it’s possible but I wouldn’t recommend doing that. ReachySDK is on top of all the ROS stuff so using it at the same level as ROS would probably cause issues.

Maybe the thread System Architecture Overview could give you a better understanding of how Reachy’s software is organised !