SDK Examples

Docker Example

Step 1: Open a fresh terminal and run the main container in the background docker run -d -it -p 8765:8765 luci.jfrog.io/ros2-sdk-docker-local/luci-ros2-sdk:latest

Step 2: Get the container id docker ps

Step 3: Connect to the container docker exec -it <container-id> bash

Step 4: Spin up the luci_grpc_interface_node. ros2 run luci_grpc_interface grpc_interface_node -a <chair-ip-address>

Step 5: Open a NEW terminal and connect to the container docker exec -it <container-id> bash

Step 6: Run the keyboard teleop node ros2 run luci_basic_teleop keyboard_control_node

and send in a remote joystick commands to drive the chair.

Example 1 Receive Data from LUCI:

Lets look at a general example of how you might use the LUCI ROS2 SDK to receive data from LUCI from a ROS node. This example spins up the connection to the chair and allows its sensors to be visualized in rviz2.

Step 1: Open a fresh terminal and source ros2 source /opt/ros/humble/setup.sh

Step 2: Spin up the luci_grpc_interface_node. ros2 run luci_grpc_interface grpc_interface_node -a <chair-ip-address>

Step 3: Open a NEW terminal and source ros2 source /opt/ros/humble/setup.sh

Step 4: Run the sensor transform topic. This tells ROS the location of each sensor in the stream. ros2 run luci_transforms quickie_500m_tf_node

Step 5: Run rviz2 rviz2

Load the config provided in the SDK Repo

(Note the interface node is going to use a lot of threads)

At this point you should have the ability to read any number of data streams from LUCI.

Example 2 Send Data to LUCI:

Step 1: Open a fresh terminal and source ros2 source /opt/ros/humble/setup.sh

Step 2: Spin up the luci_grpc_interface_node. ros2 run luci_grpc_interface grpc_interface_node -a <chair-ip-address>

Step 3: Open a NEW terminal and source ros2 source /opt/ros/humble/setup.sh

Step 4: Run the keyboard teleop node ros2 run luci_basic_teleop keyboard_control_node

and send in a remote joystick commands to drive the chair.

Foxglove

LUCI is currently in the process of integrating its SDK with Foxglove Studio, an open source visualization program aimed at extremely professional looking visualizations of ROS topics.

Currently we provide a default panel that can be imported in Foxglove to get visualization of data we see as important to the average user.

This is just a suggested starting point however and we recommend playing with Foxglove in depth to adapt it to your specific needs.

We foresee this as a long term replacement for visualizing our data in RVIZ!

Note:

In order to vizualize data from LUCI in Foxglove you need to run the luci_grpc_interface, the luci_transforms, and the ros-foxglove-bridge on a single computer. Running the foxglove bridge:

Step 1: Open a fresh terminal and source ros2 source /opt/ros/humble/setup.sh

Step 2: Run foxglove bridge. ros2 run foxglove_bridge foxglove_bridge

Once done, simply hit connect from Foxglove Studio and watch the data fly!