*************************
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 are the applications
``solo8_show_data`` and ``solo12_show_data``. They start the robot and then
simply holds all joints at the initial position while printing all observation
and status data. It can be run with (replace name accordingly for Solo8):

.. code:: bash

   ros2 run robot_interfaces_solo solo12_show_data path/to/config.yml

It should look like this:

.. image:: images/solo12_show_data_screenshot.png
   :alt: Screenshot of solo12_show_data


.. _examples:

Examples
========

There are a few demos/examples showing the basic usage.  The examples are 
for Solo12 but the interface is exactly the same for Solo8 (apart from the
different number of joints).

-  **demo_solo12_hold** [C++]: Initialises the robot and then simply holds the
  joints in place using position commands. It is implemented in
  ``demos/demo_solo12_hold.cpp`` and can be run with

   .. code:: bash

      ros2 run robot_interfaces_solo demo_solo12_hold path/to/config.yml

-  **demo_solo12_sine** [Python]: Initialises the robot and then moves all
  joints back and forth using a sine profile. It is implemented in
  ``demos/demo_solo12_sine.py`` and can be run with

   .. code:: bash

      ros2 run robot_interfaces_solo demo_solo12_sine path/to/config.yml

-  **demo_solo12_simulation** [Python]: Shows how to use a simulation backend,
  including directly accessing the simulation to obtain additional data. It is
  implemented in ``demos/demo_solo12_simulation.py`` and can be run with

   .. code:: bash

      ros2 run robot_interfaces_solo demo_solo12_simulation

These demos should give an idea on how to use robot_interfaces with the Solo12
driver.