Applications and Examples

Test with the Robot

To test if everything is working properly (i.e. connection to robot is working and all sensor data is transferred correctly, there is the application bolthumanoid_show_data. It starts the robot and then simply holds all joints at the initial position while printing all observation and status data. It can be run with

ros2 run robot_interfaces_bolt bolthumanoid_show_data path/to/config.yml

It should look like this:

Screenshot of bolthumanoid_show_data

Examples

There are a few demos/examples showing the basic usage:

  • demo_bolthumanoid_hold [C++]: Initialises the robot and then simply holds the

joints in place using position commands. It is implemented in demos/demo_bolthumanoid_hold.cpp and can be run with

ros2 run robot_interfaces_bolt demo_bolthumanoid_hold path/to/config.yml

  • demo_bolthumanoid_sine [Python]: Initialises the robot and then moves all

joints back and forth using a sine profile. It is implemented in demos/demo_bolthumanoid_sine.py and can be run with

ros2 run robot_interfaces_bolt demo_bolthumanoid_sine path/to/config.yml

  • demo_bolthumanoid_simulation [Python]: Shows how to use a simulation backend,

including directly accessing the simulation to obtain additional data. It is implemented in demos/demo_bolthumanoid_simulation.py and can be run with

ros2 run robot_interfaces_bolt demo_bolthumanoid_simulation

These demos should give an idea on how to use robot_interfaces with the BoltHumanoid driver.