ROS2 Integration

Requirements

• ROS2 Humble or later
• rclpy Python package
• sensor_msgs, geometry_msgs

Setup

# Install ROS2 Humble
# See: https://docs.ros.org/en/humble/Installation.html

pip install rclpy sensor-msgs geometry-msgs

Generic adapter

from vlarobot.deploy.adapters import ROS2GenericAdapter

adapter = ROS2GenericAdapter(
    image_topic="/camera/image_raw",
    joint_state_topic="/joint_states",
    cmd_vel_topic="/cmd_vel",
)

adapter.connect()
image = adapter.get_image()
adapter.send_action(action)
adapter.disconnect()

Topic mapping