Go2 CLI
Overview
This section includes all the new commands that have been created for go2, making it easier to call all the services that you can find in the API Interfaces section.
user@hostname:~$ ros2 go2 -h
usage: ros2 go2 [-h] Call `ros2 go2 <command> -h` for more detailed usage. ...
Various related sub-commands to go2 robot
options:
-h, --help show this help message and exit
Commands:
body_height Body Height
foot_raise_height Foot Raise Height
obstacles_avoidance SwitchObstaclesAvoidance
service Service handler
tts Text to speech
vui VUI Interfaces
Call `ros2 go2 <command> -h` for more detailed usage.
Go2 Body Height
This command is used to modify the height of the go2 body relative to the ground, and also to obtain it. This command replaces the set and get commands in the API Interfaces section.
user@hostname:~$ ros2 go2 body_height -h
usage: ros2 go2 body_height [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] {set,get} [VALUE]
Body Height
positional arguments:
{set,get} Name of the service.
VALUE Height of the robot.
options:
-h, --help show this help message and exit
--spin-time SPIN_TIME
Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-s, --use-sim-time Enable ROS simulation time
--no-daemon Do not spawn nor use an already running daemon
Example of use for the set command:
ros2 go2 body_height set 0.01
Example of use for the get command:
ros2 go2 body_height get
Go2 Foot Raise Height
This command is used to modify the height of the go2 foot relative to the ground, and also to obtain it. This command replaces the set and get commands in the API Interfaces section.
user@hostname:~$ ros2 go2 foot_raise_height -h
usage: ros2 go2 foot_raise_height [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] {set,get} [VALUE]
Foot Raise Height
positional arguments:
{set,get} Name of the service.
VALUE Height of the foot.
options:
-h, --help show this help message and exit
--spin-time SPIN_TIME
Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-s, --use-sim-time Enable ROS simulation time
--no-daemon Do not spawn nor use an already running daemon
Example of use for the set command:
ros2 go2 foot_raise_height set 0.01
Example of use for the get command:
ros2 go2 foot_raise_height get
Go2 Obstacles Avoidance
This command is used to enable or disable the obstacle avoidance system. This command replaces the switch command in the API Interfaces section.
user@hostname:~$ ros2 go2 obstacles_avoidance -h
usage: ros2 go2 obstacles_avoidance [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] {start,stop,get}
SwitchObstaclesAvoidance
positional arguments:
{start,stop,get} Name of the service.
options:
-h, --help show this help message and exit
--spin-time SPIN_TIME
Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-s, --use-sim-time Enable ROS simulation time
--no-daemon Do not spawn nor use an already running daemon
Example of use for the start command:
ros2 go2 obstacles_avoidance start
Example of use for the stop command:
ros2 go2 obstacles_avoidance stop
Example of use for the get command:
ros2 go2 obstacles_avoidance get
Go2 Service
This command lists all the modes that can be configured for the robot. These include hello, dance, sit, and more. They are the same as in this section, where you can find more detailed information.
user@hostname:~$ ros2 go2 service -h
usage: ros2 go2 service [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] NAME
Service handler
positional arguments:
NAME Name of the service.
options:
-h, --help show this help message and exit
--spin-time SPIN_TIME
Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-s, --use-sim-time Enable ROS simulation time
--no-daemon Do not spawn nor use an already running daemon
The available options are as follows:
user@hostname:~$ ros2 go2 service
back_flip dance2 free_bound front_pounce --no-daemon --spin-time --use-sim-time walk_forward walk_up
balance_stand dance3 free_jump hello rise_sit stand_down walk_backward walk_left walk_up_left
cross_step dance4 free_walk hop_spin_left -s stand_up walk_down walk_right walk_up_right
damp finger_heart front_flip hop_spin_right scrape stop_move walk_down_left walk_stair wallow
dance1 free_avoid front_jump left_flip sit stretch walk_down_right walk_stop
I give an example of the use of one of the commands. Try it and say hello to your robot:
ros2 go2 service hello
Go2 Text to Speech
This command is used to make the robot speak. This command replaces the say command in the API Interfaces section.
user@hostname:~$ ros2 go2 tts -h
usage: ros2 go2 tts [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] TEXT [TEXT ...]
Text to speech
positional arguments:
TEXT Text to be spoken.
options:
-h, --help show this help message and exit
--spin-time SPIN_TIME
Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-s, --use-sim-time Enable ROS simulation time
--no-daemon Do not spawn nor use an already running daemon
To use this command, you don’t need to add ‘text’ or “text.” Any arguments you add after tts will be taken as the text you want the robot to say. Example usage:
ros2 go2 tts Hello, I am Go2 Robot
Go2 VUI Interfaces
This command is used to know the status of the robot, its volume and light, and also to modify it. This command replaces the get and set commands in the API Interfaces section.
juanca@HUMBLE:~$ ros2 go2 vui -h
usage: ros2 go2 vui [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] {set_brightness,get_brightness,set_volume,get_volume} [VALUE]
VUI Interfaces
positional arguments:
{set_brightness,get_brightness,set_volume,get_volume}
Name of the vui service.
VALUE Value of the brightness or volume.
options:
-h, --help show this help message and exit
--spin-time SPIN_TIME
Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-s, --use-sim-time Enable ROS simulation time
--no-daemon Do not spawn nor use an already running daemon
Example of use for the set_brightness command:
ros2 go2 vui set_brightness 5
Example of use for the get_brightness command:
ros2 go2 vui get_brightness
Example of use for the set_volume command:
ros2 go2 vui set_volume 5
Example of use for the get_volume command:
ros2 go2 vui get_volume