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Participant Utilities

Teleoperation

aic_teleoperation

  • aic_teleoperation: Keyboard-based teleoperation for joint-space and Cartesian-space control

lerobot_robot_aic

  • lerobot_robot_aic: LeRobot-based teleoperation (lerobot-teleoperate) for joint-space and Cartesian-space control (using keyboard or SpaceMouse device)
  • Enables dataset recording using lerobot-record for training LeRobot policies

Additional Examples

LeRobot Data collection and Training

Plotting

  • PlotJuggler: for visualizing time series data from ROS topics

RViz

  • RViz is a vizualizer for ROS 2. The RViz configuration file provided (aic.rviz) only displays the center camera stream due to bandwidth concerns, but you may find it helpful to add views for the other two cameras.

ROS 2 CLI Tools

ROS 2 provides a comprehensive set of command-line tools for introspecting and debugging your system:

  • ROS 2 Beginner CLI Tools: Essential tutorials covering:
    • ros2 node - List and inspect running nodes
    • ros2 topic - View topics, echo messages, and monitor publication rates
    • ros2 service - Call services and view service types
    • ros2 param - Get and set node parameters
    • ros2 action - Interact with actions
    • ros2 bag - Record and replay data
    • ros2 launch - Launch multiple nodes
    • ros2 interface - Inspect message/service/action types

Quick examples:

# List all active nodes
ros2 node list

# Echo a topic
ros2 topic echo /aic_controller/state

# Get node parameters
ros2 param list /aic_controller

# Record data to a bag file
ros2 bag record -o my_recording /aic_controller/state /camera/image