ROS Realtime API

Sample code to call the ros2 apis

Setup

1. Enable the ROS2 API and ROS2 Bridge features from the Standard Bots app (Settings -> Configure Developer API)
   • ROS2 API enables control of the robot via ROS
   • ROS2 bridge publishes ROS2 topics to the local network. This may take up to 60 seconds.
   • If "Configure Developer API" is missing, reach out to Standard Bots and we can enable it for you.
   • 
2. Update the cyclonedds.xml NetworkInterface name to the adapter you will be using
3. Build
4. Run
5. Confirm the following ROS2 topics are visible via ros2 topic list

/{BOT_ID}/ro1/can/send
/{BOT_ID}/ro1/hardware/end_effector_imu
/{BOT_ID}/ro1/hardware/jacobian
/{BOT_ID}/ro1/hardware/joint_state
/{BOT_ID}/ro1/hardware/joint_trajectory
/{BOT_ID}/ro1/hardware/pose
/{BOT_ID}/ro1/hardware/pose/write
/{BOT_ID}/ro1/hardware/scaling_factor
/{BOT_ID}/ro1/hardware/tooltip_velocity
/{BOT_ID}/ro1/modbus/receive
/{BOT_ID}/ro1/modbus/send

Building

./build.sh

Running

Run the default script

./run.sh

Run a different script

./run.sh python3 ./src/write_poses.py --bot-id=<ROBOT_ID> ./data/pose1.log"

Run in docker environement

1. ./run_shell.sh
2. python3 ./src/read_joint_states.py --bot-id=<ROBOT_ID>