SDK Examples

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/galactic/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/galactic/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/galactic/setup.sh

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

Step 3: Open a NEW terminal and source ros2 source /opt/ros/galactic/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.