---
title: 接口启动示例
sidebar_position: 3
---

## 环境依赖

1. 硬件依赖：R1 Lite 计算单元
2. 操作系统依赖：Ubuntu 22.04 LTS 
3. 中间件依赖：ROS2 Humble


## 启动SDK

当前支持 **分开启动** 和 **一键启动** 两种方式启动软件接口。<span style="color:red">**为了您的安全，建议使用分开启动的方式启动SDK。**</span>  
操作指引如下：

<table style="width: 100%; border-collapse: collapse;">
    <thead>
        <tr style="text-align: left;table-layout: fixed;">
            <th style="width: 100px; padding: 8px; border: 1px solid #ddd;">模块名称</th>
            <th style="width: 200px; padding: 8px; border: 1px solid #ddd;">包含组件</th>          
            <th style="width: 400px; padding: 8px; border: 1px solid #ddd;">路径</th>
            <th style="width: 200px; padding: 8px; border: 1px solid #ddd;">启动文件</th>
        </tr>
    </thead>
    <tbody>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">HDAS</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Arms Driver<br>Torso Driver <br>Chassis Driver <br>IMU Driver <br>BMS Driver<br></td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/HDAS/share/HDAS/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">r1lite.py</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">camera_driver</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Head Camera Interface</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/camera_driver/share/camera_driver/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">run.py</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">realsense2_camera</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Wrist Camera Interface</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/realsense2_camera/share/realsense2_camera/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">rs_multi_camera_3.0_launch.py</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">moca_adapter</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Arm Control<br>Chassis Control<br>Torso Control <br>Gripper Control <br>End Effector Pose interfase</td>              
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/moca_adapter/share/moca_adapter/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">moca_launch.py</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">robot_monitor</td>
            <td style="padding: 8px; border: 1px solid #ddd;">robot monitor Interface</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/robot_monitor/share/robot_monitor/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">robot_monitor.py</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">data collection</td>
            <td style="padding: 8px; border: 1px solid #ddd;">data collection</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/data_collection/share/data_collection/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">data_collection_launch.py</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">robot diagnosis system</td>
            <td style="padding: 8px; border: 1px solid #ddd;">rds_ros</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/rds_ros/share/rds_ros/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">monitor.py</td>
        </tr>
    </tbody>
</table>

## 分开启动

所有节点可通过以下命令模板启动，配置方法如下：    

<span style="color: red;">**注意：启动节点前，请您确认已正确配置CAN驱动。**</span>

```Bash
bash ~/can.sh
# 可能需要再次输入密码：1
# 若出现“RTNETLINK answers: Device or resource busy”这个错误信息，通常表示你尝试配置的设备（如网络接口或CAN收发器）已经被配置并且正在运行中。   
```

各节点启动命令如下：

```Bash
source {sdk_path}/install/setup.bash
ros2 launch <Package Name> <Launch File>
# Example
ros2 launch HDAS r1lite.py
```

## 一键启动

<span style="color: red;">**注意：执行以下命令将启动所有驱动和运控接口。**</span>

```Bash
cd {sdk_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCStandard/R1LITEBody.d
```


<!-- ROS1 -->
<!-- ## 环境依赖

1. 硬件依赖：R1 Lite 计算单元
2. 操作系统依赖：Ubuntu 20.04 LTS 
3. 中间件依赖：ROS1 Noetic

## 启动SDK

当前支持 **分开启动** 和 **一键启动** 两种方式启动软件接口。<span style="color:red">**为了您的安全，建议使用分开启动的方式启动SDK。**</span>  
操作指引如下：

<table style="width: 100%; border-collapse: collapse;">
    <thead>
        <tr style="text-align: left;table-layout: fixed;">
            <th style="width: 100px; padding: 8px; border: 1px solid #ddd;">模块名称</th>
            <th style="width: 200px; padding: 8px; border: 1px solid #ddd;">包含组件</th>          
            <th style="width: 100px; padding: 8px; border: 1px solid #ddd;">路径</th>
            <th style="width: 100px; padding: 8px; border: 1px solid #ddd;">启动文件</th>
        </tr>
    </thead>
    <tbody>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">HDAS</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Arms Driver<br>Torso Driver <br>Chassis Driver <br>IMU Driver <br>BMS Driver<br></td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/HDAS/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">r1lite.launch</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">camera_driver</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Head Camera Interface</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/camera_driver/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">run.launch</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">realsense2_camera</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Wrist Camera Interface</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/realsense2_camera/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">rs_multiple_devices.launch</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">mobiman</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Arm Control<br>Chassis Control<br>Torso Control <br>Gripper Control <br>End Effector Pose interfase</td>              
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/mobiman/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">r1_lite_jointTrackerdemo_fast.launch<br>r1_lite_chassis_control.launch<br>torso_control_r1_lite.launch<br>r1_gripperController.launch<br>r1_lite_eepose.launch</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">robot_monitor</td>
            <td style="padding: 8px; border: 1px solid #ddd;">robot monitor Interface</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/system_monitor_node/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">robot_monitor.launch</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">data collection</td>
            <td style="padding: 8px; border: 1px solid #ddd;">data collection</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/data_collection/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">data_collection.launch</td>
        </tr>
        <tr style="text-align: left;">
            <td style="padding: 8px; border: 1px solid #ddd;">robot diagnosis system</td>
            <td style="padding: 8px; border: 1px solid #ddd;">rds_ros</td>                    
            <td style="padding: 8px; border: 1px solid #ddd;">{sdk_path}/install/share/rds_ros/launch</td>
            <td style="padding: 8px; border: 1px solid #ddd;">Rds.launch</td>
        </tr>
    </tbody>
</table>

## 分开启动

所有节点可通过以下命令模板启动，配置方法如下：    

<span style="color: red;">**注意：启动节点前，请您确认已正确配置CAN驱动。**</span>

```Bash
bash ~/can.sh
# 可能需要再次输入密码：1
# 若出现“RTNETLINK answers: Device or resource busy”这个错误信息，通常表示你尝试配置的设备（如网络接口或CAN收发器）已经被配置并且正在运行中。   
```

各节点启动命令如下：

```Bash
source {sdk_path}/install/setup.bash
roslaunch <Package Name> <Launch File>
# Example
roslaunch HDAS r1lite.launch
```

## 一键启动

<span style="color: red;">**注意：执行以下命令将启动所有驱动和运控接口。**</span>

```Bash
cd {sdk_path}/install/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d
``` -->