Platform

HardwareIO

Description

This module is responsible for communicating with the Booster K1 via the Booster Robotics SDK.

Usage

This module acts as an abstraction layer between the NUbots codebase and the Booster Robotics SDK. It translates SDK messages to NUClear Neutrons and vice-versa.

This module is built when the subcontroller CMake flag is set to Booster. Using platform::${SUBCONTROLLER}::HardwareIO will use this module if the subcontroller CMake flag is set to Booster.

Consumes

• message::booster::BoosterWalk to send a walk velocity command to the robot.
• message::booster::BoosterHeadRot to rotate the head.
• message::booster::BoosterKick to trigger a kick.
• message::booster::BoosterVisualKick to trigger a vision-guided kick.
• message::booster::BoosterGetUp to trigger the get-up routine.
• message::booster::BoosterMode to change the robot's motion mode.
• message::localisation::ResetFieldLocalisation to reset the robot's odometry.

Emits

• message::platform::RawSensors with IMU, joint, battery, and button state from the SDK's low state.
• message::booster::BoosterOdometry with the SDK's odometry pose.
• message::booster::BoosterFallDownState with the robot's fall state and whether recovery is available.
• message::booster::BoosterModeState with the robot's current motion mode.

Dependencies

• Booster Robotics SDK