接口启动示例
环境依赖
- 硬件依赖：R1 Lite 计算单元
- 操作系统依赖：Ubuntu 22.04 LTS
- 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。为了您的安全，建议使用分开启动的方式启动SDK。
操作指引如下：
| 模块名称 | 包含组件 | 路径 | 启动文件 |
|---|---|---|---|
| HDAS | Arms Driver Torso Driver Chassis Driver IMU Driver BMS Driver |
{sdk_path}/install/HDAS/share/HDAS/launch | r1lite.py |
| camera_driver | Head Camera Interface | {sdk_path}/install/camera_driver/share/camera_driver/launch | run.py |
| realsense2_camera | Wrist Camera Interface | {sdk_path}/install/realsense2_camera/share/realsense2_camera/launch | rs_multi_camera_3.0_launch.py |
| moca_adapter | Arm Control Chassis Control Torso Control Gripper Control End Effector Pose interfase |
{sdk_path}/install/moca_adapter/share/moca_adapter/launch | moca_launch.py |
| robot_monitor | robot monitor Interface | {sdk_path}/install/robot_monitor/share/robot_monitor/launch | robot_monitor.py |
| data collection | data collection | {sdk_path}/install/data_collection/share/data_collection/launch | data_collection_launch.py |
| robot diagnosis system | rds_ros | {sdk_path}/install/rds_ros/share/rds_ros/launch | monitor.py |
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：
注意：启动节点前，请您确认已正确配置CAN驱动。
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：
source {sdk_path}/install/setup.bash
ros2 launch <Package Name> <Launch File>
# Example
ros2 launch HDAS r1lite.py
一键启动
注意：执行以 下命令将启动所有驱动和运控接口。
cd {sdk_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCStandard/R1LITEBody.d