IndustryXR - Robot

This repository contains the source code for the Hiwonder robot. It provides an overview of the included packages and detailed instructions for running the project.

---

Overview

This project uses ROS2 Foxy for development. It includes several ROS2 packages and a separate workspace for camera-related code.

---

Packages

Here’s the list of packages currently included in the project:

1. ros_tcp_endpoint

   • Handles communication between the robot and external systems.
   • Allows other systems to connect to the robot over TCP.

2. sinrg_robot_sdk

   • Manages all communication with the hardware.
   • Creates necessary subscribers and publishers for the application.

3. sinrg_launch

   • Provides launch files for running multiple packages together.

Additional Note:
The camera-related code is located in the root folder of the system and is set up in a separate workspace named cam_ws.

---

System Configuration

• ROS Distribution: ROS2 Foxy
• Dependencies: Ensure all ROS2 dependencies for the listed packages are installed.
• Networking: Update the ROS_IP argument to the system's IP address for proper communication.

---

Instructions

Follow these steps to run the application:

Option 1: Run packages individually

1. Start the TCP Endpoint

This enables external systems to connect to the robot.

ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=<YOUR_SYSTEM_IP>

Example

ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=10.188.58.100

2. Start the robot sdk

ros2 run sinrg_robot_sdk robot_controller_manager

---

Option 2: Run all packages using the launch file

ros2 launch sinrg_servo_controller sinrg_servo.launch.py

License

• The project is under the MIT License