.. warning::
   ROS 2 Foxy Fitzroy reached end-of-life in June 2023. We recommend upgrading to ROS 2 Humble for continued support.

ROS2 Package Reference
----------------------

Overview of the B2W ROS 2 packages.

Core Packages
^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 25 50

   * - Package
     - Description
   * - b2_driver
     - Hardware interface to Unitree B2 SDK
   * - b2_interface
     - Custom message and service definitions
   * - b2_description
     - URDF/Xacro robot description
   * - b2_bringup
     - Launch files and configuration

Sensor Packages
^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 25 50

   * - Package
     - Description
   * - livox_ros_driver2
     - Livox Mid360 LiDAR driver
   * - realsense2_camera
     - Intel RealSense camera driver
   * - dynamixel_driver
     - Dynamixel servo control

Navigation Packages
^^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 25 50

   * - Package
     - Description
   * - b2_navigation
     - Nav2 configuration and launch files
   * - b2_slam
     - SLAM configuration

Interface Messages
^^^^^^^^^^^^^^^^^^

**b2_interface/srv/B2Modes:**

.. code-block:: text

   string request_data
   ---
   bool success
   string message

**Common mode values:**

- ``stand_up``, ``stand_down``, ``damp``, ``recovery``
- ``gait_idle``, ``gait_trot``, ``gait_flatwalk``
- ``speed_low``, ``speed_high``
- ``body_height_low``, ``body_height_mid``, ``body_height_high``