Interface Startup Example

Environment Dependencies

1. Hardware dependency: R1 Pro computing unit
2. Operating system dependency: Ubuntu 22.04 LTS
3. Middleware dependency: ROS 2 Humble

Launching the Interfaces

Both independent startup of each module and one-click startup are currently supported. For your safety, we recommend starting the SDK using the separate startup method.

Note: Before starting the nodes, confirm that the CAN driver is configured correctly.

bash ~/canfd.sh
# You may need to enter the password again: nvidia   

Start Each Interface Independently

All components can be started using the following command template.

source ~{your_download_path}/install/setup.bash
ros2 launch <Package Name> <Launch File>
# Example
ros2 launch HDAS r1pro.py

Start All Interfaces with One Click

Note: Running the following commands will start all driver and motion control interfaces.

# sudo apt-get install tmux tmuxp
cd {your_download_path}/install/startup_config/share/startup_config/script
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/