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Update for new HRIStudio build

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Sean O'Connor
2025-08-07 01:29:00 -04:00
parent 3acdccf9a7
commit 0e835f2ee3
29 changed files with 2978 additions and 362 deletions
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90
plugins/turtlebot3-burger.json
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@@ -4,7 +4,11 @@
"description": "A compact, affordable, programmable, ROS2-based mobile robot for education and research",
"platform": "ROS2",
"version": "2.0.0",
"pluginApiVersion": "1.0",
"hriStudioVersion": ">=0.1.0",
"trustLevel": "official",
"category": "mobile-robot",
"manufacturer": {
"name": "ROBOTIS",
"website": "https://www.robotis.com/",
@@ -42,12 +46,7 @@
"height": 0.192,
"weight": 1.0
},
"capabilities": [
"differential_drive",
"lidar",
"imu",
"odometry"
],
"capabilities": ["differential_drive", "lidar", "imu", "odometry"],
"maxSpeed": 0.22,
"batteryLife": 2.5
},
@@ -66,31 +65,29 @@
"actions": [
{
"actionId": "move-velocity",
"type": "move",
"title": "Set Velocity",
"id": "move_velocity",
"name": "Set Velocity",
"description": "Control the robot's linear and angular velocity",
"category": "movement",
"icon": "navigation",
"parameters": {
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"linear": {
"type": "number",
"title": "Linear Velocity",
"description": "Forward/backward velocity",
"default": 0,
"minimum": -0.22,
"maximum": 0.22,
"unit": "m/s"
"default": 0,
"description": "Forward/backward velocity in m/s"
},
"angular": {
"type": "number",
"title": "Angular Velocity",
"description": "Rotational velocity",
"default": 0,
"minimum": -2.84,
"maximum": 2.84,
"unit": "rad/s"
"default": 0,
"description": "Rotational velocity in rad/s"
}
},
"required": ["linear", "angular"]
@@ -111,34 +108,30 @@
}
},
{
"actionId": "move-to-pose",
"type": "move",
"title": "Move to Position",
"id": "move_to_pose",
"name": "Move to Position",
"description": "Navigate to a specific position on the map",
"category": "movement",
"icon": "target",
"parameters": {
"timeout": 60000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"x": {
"type": "number",
"title": "X Position",
"description": "X coordinate in meters",
"default": 0,
"unit": "m"
"description": "X coordinate in meters"
},
"y": {
"type": "number",
"title": "Y Position",
"description": "Y coordinate in meters",
"default": 0,
"unit": "m"
"description": "Y coordinate in meters"
},
"theta": {
"type": "number",
"title": "Orientation",
"description": "Final orientation",
"default": 0,
"unit": "rad"
"description": "Final orientation in radians"
}
},
"required": ["x", "y", "theta"]
@@ -151,6 +144,37 @@
"transformFn": "transformToPoseStamped"
}
}
},
{
"id": "stop_robot",
"name": "Stop Robot",
"description": "Immediately stop all robot movement",
"category": "movement",
"icon": "square",
"timeout": 5000,
"retryable": false,
"parameterSchema": {
"type": "object",
"properties": {},
"required": []
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "static",
"payload": {
"linear": { "x": 0.0, "y": 0.0, "z": 0.0 },
"angular": { "x": 0.0, "y": 0.0, "z": 0.0 }
}
},
"qos": {
"reliability": "reliable",
"durability": "volatile",
"history": "keep_last",
"depth": 1
}
}
}
]
}
}