API Interfaces

Overview

This section includes all the services that are available when you launch the Robot SDK.

Go2 Handle Services

Body Height

Type	Parameter	Range
float32	height	-0.18 ~ 0.03

Description

Set the relative height of the body above the ground when standing and walking.

Usage Example

ros2 service call /body_height go2_interfaces/srv/BodyHeight "height: 0.02"

Continuous Gait

Type	Parameter	Range
bool	flag	true ~ false

Description

Continuous movement.

Usage Example

ros2 service call /continuous_gait go2_interfaces/srv/ContinuousGait "flag: true"

Euler

Type	Parameter	Range
float32	roll	-0,75 ~ 0,75
float32	pitch	-0,75 ~ 0,75
float32	yaw	-0.6 ~ 0.6

Description

Posture when standing and walking.

Usage Example

ros2 service call /euler go2_interfaces/srv/Euler "roll: 0.1 pitch: 0.1 yaw: 0.1"

Foot Raise Height

Type	Parameter	Range
float32	height	-0.06 ~ 0.03

Description

Set the relative height of foot lift during movement.

Usage Example

ros2 service call /foot_raise_height go2_interfaces/srv/FootRaiseHeight "height: 0.02"

Get Body Height

Type	Parameter	Range
N/A	N/A	N/A

Description

Get the relative height of the body above the ground when standing and walking.

Response

Type	Parameter
bool	success
string	message
float32	height

Usage Example

ros2 service call /get_body_height go2_interfaces/srv/GetBodyHeight

Get Foot Raise Height

Type	Parameter	Range
N/A	N/A	N/A

Description

Get the relative height of foot lift during movement.

Response

Type	Parameter
bool	success
string	message
float32	height

Usage Example

ros2 service call /get_foot_raise_height go2_interfaces/srv/GetFootRaiseHeight

Get Speed Level

Type	Parameter	Range
N/A	N/A	N/A

Description

Get the speed level.

Response

Type	Parameter
bool	success
string	message
int32	level

Usage Example

ros2 service call /get_speed_level go2_interfaces/srv/GetSpeedLevel

Get State

Type	Parameter	Range
N/A	N/A	N/A

Description

Get state.

Response

Type	Parameter
bool	success
string	message

Usage Example

ros2 service call /get_state go2_interfaces/srv/GetState

Mode

Type	Parameter
string	mode

Description

The robot does something according to the mode.

Click to expand all modes and descriptions

• Damp: Damp refers to a mode that controls the robot's dampening behavior, which affects the stiffness of joints and how they respond to forces.
• BalanceStand: BalanceStand is a mode where the robot attempts to stabilize and maintain a balanced standing posture.
• StopMove: StopMove halts the robot’s movement, bringing it to a stop immediately.
• StandUp: StandUp is a mode where the robot rises from a sitting or lying position to a standing posture.
• StandDown: StandDown makes the robot lower itself from a standing position to a sitting or resting posture.
• RecoveryStand: RecoveryStand is used when the robot has fallen or is off-balance and needs to return to a standing position.
• Euler: Euler mode controls the robot’s movements using Euler angles for orientation and rotation.
• Move: Move mode allows the robot to move in any specified direction or path.
• Sit: Sit mode places the robot in a seated position.
• RiseSit: RiseSit allows the robot to transition from a sitting position to a standing one.
• SwitchGait: SwitchGait enables the robot to change its gait pattern or walking style.
• Trigger: Trigger mode initiates a specific action or behavior in the robot.
• BodyHeight: BodyHeight adjusts the height of the robot's body, typically in relation to the ground.
• FootRaiseHeight: FootRaiseHeight controls the height at which the robot lifts its feet during movement.
• SpeedLevel: SpeedLevel sets the robot’s speed level for different actions or movement modes.
• Hello: Hello mode is a basic greeting action where the robot acknowledges or interacts with a user.
• Stretch: Stretch mode makes the robot perform a stretching motion, typically to loosen up joints.
• TrajectoryFollow: TrajectoryFollow allows the robot to follow a predefined trajectory or path based on a set of waypoints.
• ContinuousGait: ContinuousGait enables a constant, uninterrupted gait pattern for walking or running.
• Content: Content mode allows the robot to interact or display various forms of content or information.
• Wallow: Wallow mode refers to a behavior where the robot performs a motion that simulates rolling or wallowing.
• Dance1: Dance1 makes the robot perform a specific dance routine or sequence of movements.
• Dance2: Dance2 is another unique dance routine that the robot performs.
• GetBodyHeight: GetBodyHeight retrieves the current height of the robot's body from the ground.
• GetFootRaiseHeight: GetFootRaiseHeight retrieves the current height at which the robot's feet are raised during movement.
• GetSpeedLevel: GetSpeedLevel retrieves the current speed level of the robot.
• SwitchJoystick: SwitchJoystick allows the robot to change its control mode between different input devices, like joysticks.
• Pose: Pose mode refers to the robot assuming a specific posture or configuration of its joints.
• Scrape: Scrape mode allows the robot to perform scraping movements, typically with its feet or body.
• FrontFlip: FrontFlip makes the robot perform a forward flip.
• FrontJump: FrontJump makes the robot perform a forward jump.
• FrontPounce: FrontPounce is a mode where the robot performs a forward pounce or leap.
• WiggleHips: WiggleHips makes the robot perform a hip-wiggling motion, typically for dancing.
• GetState: GetState retrieves the current state or status of the robot, including its posture or mode.
• EconomicGait: EconomicGait is a mode that adjusts the robot's gait to optimize energy efficiency.
• FingerHeart: FingerHeart mode allows the robot to make a heart shape with its fingers, typically for gestures.
• Dance3: Dance3 is yet another specific dance routine that the robot performs.
• Dance4: Dance4 is a fourth unique dance routine.
• HopSpinLeft: HopSpinLeft makes the robot hop and spin to the left.
• HopSpinRight: HopSpinRight makes the robot hop and spin to the right.
• LeftFlip: LeftFlip makes the robot perform a flip to the left.
• BackFlip: BackFlip makes the robot perform a backward flip.
• FreeWalk: FreeWalk allows the robot to walk freely without following a specific gait pattern.
• FreeBound: FreeBound allows the robot to perform bounding or hopping movements in any direction.
• FreeJump: FreeJump lets the robot perform a jump in any direction or height.
• FreeAvoid: FreeAvoid enables the robot to navigate and avoid obstacles in its path.
• WalkStair: WalkStair allows the robot to climb stairs in a walking pattern.
• WalkUpRight: WalkUpRight lets the robot walk in a more upright posture, suitable for climbing or walking in tight spaces.
• CrossStep: CrossStep involves the robot crossing one leg over the other in its gait.

Usage Example

ros2 service call /mode go2_interfaces/srv/Mode "mode: 'hello'"

Pose

Type	Parameter	Range
bool	flag	true ~ false

Description

Set true to pose and false to restore

Usage Example

ros2 service call /pose go2_interfaces/srv/Pose "flag: true"

Speed Level

Type	Parameter	Range
int32	level	-1 ~ 1

Description

Set the speed range.

Usage Example

ros2 service call /speed_level go2_interfaces/srv/SpeedLevel "level: 1"

Switch Gait

Type	Parameter	Range
int32	gait	0 ~ 4

Description

This service allows switching the robot’s gait to one of the predefined modes.

• IDLE (0): The robot is idle.

• TROT (1): The robot moves with a trot gait.

• TROT_RUN_NING (2): A specific variation of the trot gait.

• FORWARD_CLIMBING_MODE (3): The robot switches to a climbing mode for forward movement.

• REVERSE_CLIMBING_MODE (4): The robot switches to a reverse climbing mode.

Usage Example

ros2 service call /switch_gait go2_interfaces/srv/SwitchGait "gait: 1"

Switch Joystick

Type	Parameter	Range
bool	flag	true ~ false

Description

Native remote control response switch.

Usage Example

ros2 service call /switch_joystick go2_interfaces/srv/SwitchJoystick "flag: true"

Go2 Switch Obstacle Avoidance

Get Obstacle Avoidance

Type	Parameter	Range
N/A	N/A	N/A

Description

Get switch obstacle avoidance.

Response

Type	Parameter
bool	success
string	message
int32	enable

Usage Example

ros2 service call /get_obstacle_avoidance go2_interfaces/srv/GetObstacleAvoidance

Set Obstacle Avoidance

Type	Parameter	Range
int32	enable	0 ~ 1

Description

Set switch obstacle avoidance.

Usage Example

ros2 service call /set_obstacle_avoidance go2_interfaces/srv/SetObstacleAvoidance "enable: 1"

Go2 TTS

TTS

Type	Parameter
string	text

Description

Text to speech.

Usage Example

ros2 service call /say go2_interfaces/srv/Say "text: 'Hello, I am Go2 robot'"

Go2 VUI

Get Brightness

Type	Parameter	Range
N/A	N/A	N/A

Description

Get the brightness of the screen.

Response

Type	Parameter
bool	success
string	message
int32	brightness

Usage Example

ros2 service call /get_brightness go2_interfaces/srv/GetBrightness

Get Switch

Type	Parameter	Range
N/A	N/A	N/A

Description

Get the switch status.

Response

Type	Parameter
bool	success
string	message
int32	enable

Usage Example

ros2 service call /get_switch go2_interfaces/srv/GetSwitch

Get Volume

Type	Parameter	Range
N/A	N/A	N/A

Description

Get the volume of the robot.

Response

Type	Parameter
bool	success
string	message
int32	volume

Usage Example

ros2 service call /get_volume go2_interfaces/srv/GetVolume

Set Brightness

Type	Parameter	Range
int32	brightness	0 ~ 10

Description

Set the brightness of the light.

Usage Example

ros2 service call /set_brightness go2_interfaces/srv/SetBrightness "brightness: 5"

Set Switch

Type	Parameter	Range
int32	enable	0 ~ 1

Description

Set the switch status.

Usage Example

ros2 service call /set_switch go2_interfaces/srv/SetSwitch "enable: 1"

Set Volume

Type	Parameter	Range
int32	volume	0 ~ 10

Description

Set the volume of the robot.

Usage Example

ros2 service call /set_volume go2_interfaces/srv/SetVolume "volume: 5"