Actuation

FootController

Description

Skill which corrects the foot orientation to level it with the ground. The correction of the foot can be disabled in the config and the module will request the given orientation without correction.

Usage

Include this module to allow the robot to control the feet of robot.

Consumes

• message::actuation::ControlLeftFoot Task requesting the left leg is moved to desired pose.
• message::actuation::ControlRightFoot Task requesting the right leg is moved to desired pose.

Emits

• message::actuation::LeftLegIK Task requesting the left leg is moved using Inverse Kinematics, containing left leg motion information.
• message::actuation::RightLegIK Task requesting the right leg is moved using Inverse Kinematics, containing right leg motion information.

Dependencies

• Eigen

Kinematics

Description

Provides inverse kinematics for left leg, right leg or head. Will emit a Done Task when the corresponding limb is Done.

Usage

Emit the corresponding IK message as a task.

Consumes

• message::actuation::LeftLegIK with information on the servo gains, torque, time to reach the position and the matrix from the target position for the left foot to the torso.
• message::actuation::RightLegIK with information on the servo gains, torque, time to reach the position and the matrix from the target position for the right foot to the torso.
• message::actuation::HeadIK with information on the servo gains, torque, time to reach the position and the vector that the head should look.

Emits

• message::actuation::LeftLeg with servo control information for each servo in the left leg.
• message::actuation::RightLeg with servo control information for each servo in the right leg.
• message::actuation::Head with servo control information for each servo in the head.
• Done when the limb Tasks are Done.

Dependencies

• utility/actuation/InverseKinematics.hpp provides the IK functions

Servos

Description

Takes specific servo requests and emits a ServoTarget for them. Uses Director DSL such that each servo can only be accessed by one Provider at a time. Individual Servo Providers are Done when their finish time is reached. Limb Providers are Done when all of the Servos in the Limb are Done. Sequence Providers run a sequence of Limbs one after the other. They are done when the final Limb is Done.

Usage

Emit a servo, limb or sequence task, with priority to run according to the Director algorithm.

Consumes

• Servo messages from message/actuation/Servos.proto.
• Limb messages from message/actuation/Limbs.proto, which will then emit Servo Tasks from message/actuation/Servos.proto to be consumed as above.
• Sequence messages from message/actuation/Limbs.proto, which will then emit Limb Tasks from message/actuation/Limbs.proto to be consumed as above.

Emits

• message::actuation::ServoTarget the servo control information for the platform module.
• Servo messages from message/actuation/Servos.proto when a message/actuation/Limbs.proto is received.
• Limb messages from message/actuation/Limbs.proto when a Sequence message from message/actuation/Limbs.proto is received.

Dependencies