Download & Build pnd_ros2

git clone https://github.com/pndbotics/pnd_ros2.git
cd pnd_ros2
colcon build
source install/setup.bash

Select Communication Mode

DDS is used by default. To switch to ROS2, follow these steps:

1. Open the file paras.yaml on NUC. (Connection password: pndxyz)

   ssh pnd-humanoid@192.168.41.xx
   xdg-open ~/Documents/adam_u_deploy/pnd_adam_dds/resources/config/paras.yaml
   

2. Modify the field user_domain_id: 1 in the file to select the communication mode.

   DDS communication: user_domain_id: 1

   

   ROS2 communication: user_domain_id: 2

   

ROS2 Message Definitions

Published Message: lowcmd (Desired Body Positions)

Field	Type	Dimension	Description
motor_cmd	MotorCmd_	19	Desired positions of 19 actuators
reserve	unsigned long	1	Reserved field

Subscribed Message: lowstate (Actual Body States)

Field	Type	Dimension	Description
motor_state	MotorState_	19	Actual positions of 19 actuators
reserve	unsigned long	1	Reserved field

Published Message: handcmd (Desired Finger Positions)

Field	Type	Dimension	Description
position	unsigned long	12	Desired hand positions
reserve	unsigned long	1	Reserved field

Subscribed Message: handstate (Actual Finger States)

Field	Type	Dimension	Description
position	unsigned long	12	Actual hand positions
reserve	unsigned long	1	Reserved field

Single Joint Data Type: MotorCmd_

Field	Type	Description
mode	octet	Mode (0)
q	float	Position
dq	float	Velocity
tau	float	Torque
kp	float	Stiffness
kd	float	Damping
reserve	unsigned long	Reserved field

Single Joint Data Type: MotorState_

Field	Type	Description
mode	octet	Mode (0)
q	float	Position
dq	float	Velocity
tau_est	float	Estimated torque
motorstate	unsigned long	Current state
reserve	unsigned long	Reserved field