humanoid interfaces directory

humanoid_interfaces

ROS 2 custom message definitions used throughout the RoboCup Humanoid League software stack.

Overview

humanoid_interfaces provides all custom ROS 2 message definitions shared between:

• Motion / Inverse Kinematics
• Vision
• Localization
• Team Communication (UDP)
• Sensor Processing
• Motion Control

These interfaces are used to exchange robot state, walking commands, localization information, vision targets, and sensor measurements between subsystems.

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Package Structure

Category	Messages
Inverse Kinematics	IkAngleSimMsg, IkComMsg, IkCoordMsg, IkEndMsg, IkLTCMsg, IkPatternMsg, Master2IkMsg, Tune2IkMsg
Sensor	ImuMsg, ZmpMsg
Inter-Module Communication	Master2vision, Master2localization, Master2udp, Udp2master
Utility	MotionOperator, Pidtuning

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Main Interfaces

Walking Control

Master2IkMsg

Walking command sent from the master node to the inverse kinematics module.

Master
 └── Master2IkMsg
       ├── x_length
       ├── y_length
       ├── yaw
       └── one_step_flag

Contains:

• Forward stride length
• Side stride length
• Turning angle
• One-step walking command

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IMU Feedback

ImuMsg

Provides complete inertial sensor information.

Includes:

• Euler angles (roll, pitch, yaw)
• Quaternion orientation
• Angular velocity
• Linear acceleration
• Integrated velocity
• Integrated position

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ZMP Feedback

ZmpMsg

Zero Moment Point information used for balance control.

Contains:

• Left foot ZMP
• Right foot ZMP
• Combined ZMP
• Foot contact state

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Vision Interface

Master2vision

Command message from master to vision.

Contains:

• Vision task mode
• Camera pan angle
• Camera tilt angle

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Localization Interface

Master2localization

Navigation targets and localization parameters.

Contains:

• Goal position
• Target position
• Position tolerance
• Attack / defense reference positions

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Team Communication

Master2udp

Robot state broadcast to teammates.

Contains:

• Robot ID
• Robot state
• Localization result
• Ball information
• Team information

Udp2master

Robot state received from teammates.

Contains:

• Teammate localization
• Ball observations
• Robot behavior state

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Motion Control

MotionOperator

Motion playback interface.

motion_num
motion_end

Used for predefined motion execution.

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PID Tuning

Pidtuning

Generic PID parameter message.

kp
ki
kd

Used for runtime controller tuning.

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Build

cd ~/colcon_ws

colcon build --packages-select humanoid_interfaces

source install/setup.bash

Dependencies

• ROS 2 Humble (or later)
• std_msgs
• geometry_msgs
• rosidl_default_generators
• rosidl_default_runtime

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## Maintainer

RoboCup Humanoid League Software Team