Real Robots
Supported robots
| Robot | Adapter | ROS2 Package |
|---|
| Franka Panda | FrankaAdapter | franka_ros2 |
| WidowX 250s | WidowXAdapter | interbotix_ros |
| UR5/UR10 | UR5Adapter | Universal_Robots_ROS2_Driver |
Deploy
from vlarobot.deploy import RobotController
controller = RobotController(
model=model,
robot="franka_panda",
control_hz=10.0,
)
controller.start()
controller.execute("pick up the red block", max_steps=50)
controller.stop()
Custom adapter
from vlarobot.deploy.adapters import ROS2GenericAdapter
adapter = ROS2GenericAdapter(
image_topic="/camera/image_raw",
joint_state_topic="/joint_states",
cmd_vel_topic="/cmd_vel",
)