Updating Mobile Base SDK on Reachy 2023

Users Reachy software
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1

Hi Pollen Robotics team,

I was wondering if I could check the steps to update the MobileBaseSDK for the reachy_mobile_base service on Reachy 2023? I am currently using MobileBaseSDK v0.1.1 on Reachy 2023 and would like to try updating it to v1.0.2 (if that will not break the mobile base service?). I was not sure if these are the right steps:

  1. Update the mobile-base-sdk in ~/dev/mobile-base-sdkto version v1.0.2
  2. Build the updated mobile reachy_2023 workspace? I was not sure if something in the reachy_2023 repo needs to be changed to launch the mobile base service with updated MobileBaseSDK?

Thank you very much!

2

Hi @jyau,
For Reachy2023, you should stay on this version as this is the last release compatible with that type of robot.
Have a nice day,

Claire

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3

Hi Claire,

Got it, thank you so much!

Sorry for one followup question, if I would like to modify the mobile base Lidar’s critical safety distance, could I modify it in the zuuu_hal/config/params.yaml file? Would I need to rebuild the reachy_2023 workspace? Or is it enough to just update the yaml file?

zuuu_hal:
  ros__parameters:
    laser_upper_angle: 2.85 # 2.5 is a low value tunned for Remi's robot, on a normal Reachy mobile this can be higher
    laser_lower_angle: -2.85 # is often -laser_upper_angle
    max_duty_cyle: 0.20 # max is 1.0
    cmd_vel_timeout: 0.2
    max_full_com_fails: 100
    main_tick_period: 0.012
    control_mode: "OPEN_LOOP"
    max_accel_xy: 1.0
    max_accel_theta: 1.0
    xy_tol: 0.0
    theta_tol: 0.0
    smoothing_factor: 5.0
    safety_distance: 0.70 # distance from the center of the robot
    critical_distance: 0.55 # distance from the center of the robot

Thank you!

4

Yes you can change the parameters, but you’ll have to recompile the package for the changes to take effect
Best regards

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