AimDK X2

https://x2-aimdk.agibot.com/zh-cn/latest
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AimDK_X2 is a task programming and extension framework developed by AgiBot, providing open...
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### Build and Run ROS 2 Examples

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

Instructions to build and run ROS 2 examples from the aimdk directory. This involves sourcing the ROS Humble environment, building the workspace with colcon, sourcing the install setup, and then running a specific Python example.

```bash
source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 run py_examples '对应功能名称如: get_mc_action'
```

--------------------------------

### ROS2 Command-Line Execution Examples

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Cpp

These are command-line examples demonstrating how to run the 'examples echo_camera_head_rear' ROS2 node with different parameters. They show how to subscribe to various image topics (RGB, compressed) and how to enable video recording to a specified file path. These commands are executed in a ROS2 environment.

```bash
# 订阅RGB图像数据：
ros2 run examples echo_camera_head_rear --ros-args -p topic_type:=rgb_image
```

```bash
# 订阅压缩图像数据：
ros2 run examples echo_camera_head_rear --ros-args -p topic_type:=rgb_image_compressed
```

```bash
# 订阅相机内参：
ros2 run examples echo_camera_head_rear --ros-args -p topic_type:=camera_info
```

```bash
# 录制视频：
# dump_video_path的值可改为其他路径, 注意提前创建该文件所在目录才能保存
ros2 run examples echo_camera_head_rear --ros-args -p topic_type:=rgb_image -p dump_video_path:=$PWD/rear_camera.avi
```

--------------------------------

### Register Example in setup.py for ROS 2

Source: https://x2-aimdk.agibot.com/zh-cn/latest/quick_start/code_sample

Illustrates how to add an entry point in the `setup.py` file to make the new example runnable via the `ros2 run` command. This step is crucial for integrating the script into the ROS 2 build system.

```python
# Example entry point addition in setup.py
# ... other setup configurations ...
entry_points={
    'console_scripts': [
        'action_sequence_demo = py_examples.action_sequence_demo:main',
    ],
},
# ...
```

--------------------------------

### Build and Run Agibot LED Example (Shell)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Cpp

Instructions for building the Agibot LED example using colcon and running it with ros2. Assumes a ROS 2 environment is set up.

```shell
# 构建
colcon build --packages-select examples

# 运行
ros2 run examples play_lights
```

--------------------------------

### Python Example: Play Video

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/interactor/screen

This is a placeholder for a Python code example demonstrating how to play video files using the screen control interface. It would typically involve creating a ROS 2 client to call the PlayVideo service.

```python
# Python 示例：播放视频
# (具体实现请参考项目提供的示例代码)

```

--------------------------------

### C++ Example: Play Video

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/interactor/screen

This is a placeholder for a C++ code example demonstrating how to play video files using the screen control interface. It would typically involve creating a ROS 2 client to call the PlayVideo service.

```cpp
// C++ 示例：播放视频
// (具体实现请参考项目提供的示例代码)

```

--------------------------------

### ROS 2 Command Line Execution Examples

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Cpp

These examples demonstrate how to run the robot mode setting executable using ROS 2 commands. They show how to pass the desired mode as a command-line argument or run the executable without arguments to enable interactive input.

```bash
# Use command-line arguments to set the mode (recommended)
ros2 run examples set_mc_action JD  # Zero-torque mode >> Standby (position control standing)
ros2 run examples set_mc_action SD  # Execute after robot is standing and feet are on the ground, Standby >> Stable standing
# Stable standing >> Walking/Running mode automatic switching, no manual switching required

# Or run without arguments, the program will prompt the user to enter a two-letter abbreviation code
ros2 run examples set_mc_action

```

--------------------------------

### Agibot LED Strip Control Example Output

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Cpp

An example of the expected output when running the Agibot LED strip control example, showing user prompts and successful command confirmation.

```text
=== LED灯带控制示例 ===
请选择灯带模式：
0 - 常亮模式
1 - 呼吸模式 (4s周期，亮度正弦变化)
2 - 闪烁模式 (1s周期，0.5s亮，0.5s灭)
3 - 流水模式 (2s周期，从左到右依次点亮)
请输入模式 (0-3): 1

请设置RGB颜色值 (0-255)：
红色分量 (R): 255
绿色分量 (G): 0
蓝色分量 (B): 0

发送LED控制命令...
模式: 1, 颜色: RGB(255, 0, 0)
✅ LED strip command sent successfully
```

--------------------------------

### ROS 2 Command Line Usage

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

Provides example commands to run the 'py_examples' ROS 2 package, specifically the 'echo_lidar_data' node. These commands demonstrate how to subscribe to either LiDAR PointCloud2 data or IMU data by setting the 'topic_type' parameter.

```bash
# 订阅激光雷达点云数据
ros2 run py_examples echo_lidar_data --ros-args -p topic_type:=pointcloud

# 订阅激光雷达IMU数据
ros2 run py_examples echo_lidar_data --ros-args -p topic_type:=imu
```

--------------------------------

### 运行LED灯带控制命令 (ROS 2)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

使用 'ros2 run' 命令执行 'play_lights' 节点，并传递命令行参数来设置LED灯带的模式和颜色。第一个参数是模式（0-3），后续三个参数是RGB颜色分量（0-255）。

```bash
ros2 run py_examples play_lights 1 255 0 0  # 模式1，红色
```

--------------------------------

### Python Example: Control Emoji

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/interactor/screen

This is a placeholder for a Python code example demonstrating how to control emoji playback using the screen control interface. It would typically involve creating a ROS 2 client to call the PlayEmoji service.

```python
# Python 示例：表情控制
# (具体实现请参考项目提供的示例代码)

```

--------------------------------

### C++ Example: Control Emoji

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/interactor/screen

This is a placeholder for a C++ code example demonstrating how to control emoji playback using the screen control interface. It would typically involve creating a ROS 2 client to call the PlayEmoji service.

```cpp
// C++ 示例：表情控制
// (具体实现请参考项目提供的示例代码)

```

--------------------------------

### Get Robot Mode Example (Python)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/control_mod/modeswitch

Python code example for retrieving the robot's current motion mode. This snippet demonstrates how to call the query motion mode service.

```Python
# Python 示例 ：获取机器人模式
# Refer to the official documentation for the complete code.

```

--------------------------------

### Get Robot Mode Example (C++)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/control_mod/modeswitch

C++ code example for retrieving the robot's current motion mode. This snippet demonstrates how to call the query motion mode service.

```C++
// C++ 示例 ： 获取机器人模式
// Refer to the official documentation for the complete code.

```

--------------------------------

### Get Robot Mode (C++)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Cpp

This example demonstrates how to call the `GetMcAction` service to retrieve the robot's current operating mode, including its name and status.

```APIDOC
## POST /aimdk_5Fmsgs/srv/GetMcAction

### Description
This service retrieves the robot's current operating mode, providing its name and status.

### Method
POST

### Endpoint
`/aimdk_5Fmsgs/srv/GetMcAction`

### Parameters
#### Request Body
- **request** (aimdk_msgs/msg/CommonRequest) - Required - Header information for the request.
  - **header** (aimdk_msgs/msg/ResponseHeader) - Required - Standard response header.
    - **stamp** (time) - Required - Timestamp of the request.

### Request Example
```json
{
  "request": {
    "header": {
      "stamp": "current_time"
    }
  }
}
```

### Response
#### Success Response (200)
- **info** (aimdk_msgs/msg/ResponseHeader) - Required - Information about the robot's mode.
  - **action_desc** (string) - Description of the robot's current mode.
  - **status** (int) - The status code of the current mode.

#### Response Example
```json
{
  "info": {
    "action_desc": "PASSIVE_DEFAULT",
    "status": {
      "value": 100
    }
  }
}
```

### Build & Run Instructions
1. Navigate to the root directory of the extracted SDK.
2. Execute the following commands:
   ```bash
   source /opt/ros/humble/setup.bash
   colcon build
   source install/setup.bash
   ros2 run examples get_mc_action
   ```

### Output Example
```
... [INFO] [timestamp] [get_mc_action_client]: Current robot mode:
[INFO] [timestamp] [get_mc_action_client]: Mode name: PASSIVE_DEFAULT
[INFO] [timestamp] [get_mc_action_client]: Mode status: 100
```

### Notes
- The complete code implementation includes robust error handling, signal processing, and timeout mechanisms.
- ROS service mechanisms may require optimization for cross-board communication. Consider implementing exception handling and rapid retry mechanisms during secondary development.
```

--------------------------------

### Run ROS2 Node to Record Video

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

This command starts the ROS2 `echo_camera_head_rear` node to capture RGB images and save them to a video file. The `dump_video_path` parameter specifies the output file (e.g., `rear_camera.avi`), and the directory must exist beforehand. This functionality is useful for offline analysis of camera feeds.

```bash
# dump_video_path的值可改为其他路径, 注意提前创建该文件所在目录才能保存
ros2 run py_examples echo_camera_head_rear --ros-args -p topic_type:=rgb_image -p dump_video_path:=$PWD/rear_camera.avi
```

--------------------------------

### Get Robot Mode using GetMcAction Service (Python)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

This Python script demonstrates how to call the `GetMcAction` ROS service to retrieve the robot's current operating mode. It includes service client creation, waiting for service availability, sending asynchronous requests, and handling responses or failures. The code is designed for robustness with error handling and retry mechanisms.

```python
#!/usr/bin/env python3

import rclpy
import rclpy.logging
from rclpy.node import Node

from aimdk_msgs.srv import GetMcAction
from aimdk_msgs.msg import CommonRequest


class GetMcActionClient(Node):
    def __init__(self):
        super().__init__('get_mc_action_client')
        self.client = self.create_client(
            GetMcAction, '/aimdk_5Fmsgs/srv/GetMcAction')
        self.get_logger().info('✅ GetMcAction client node created.')

        # Wait for the service to become available
        while not self.client.wait_for_service(timeout_sec=2.0):
            self.get_logger().info('⏳ Service unavailable, waiting...')

        self.get_logger().info('🟢 Service available, ready to send request.')

    def send_request(self):
        request = GetMcAction.Request()
        request.request = CommonRequest()

        self.get_logger().info('📨 Sending request to get robot mode')
        for i in range(8):
            request.request.header.stamp = self.get_clock().now().to_msg()
            future = self.client.call_async(request)
            rclpy.spin_until_future_complete(self, future, timeout_sec=0.25)

            if future.done():
                break

            # retry as remote peer is NOT handled well by ROS
            self.get_logger().info(f'trying ... [{i}]')

        response = future.result()
        if response is None:
            self.get_logger().error('❌ Service call failed or timed out.')
            return

        self.get_logger().info('✅ Robot mode get successfully.')
        self.get_logger().info(f'Mode name: {response.info.action_desc}')
        self.get_logger().info(f'Mode status: {response.info.status.value}')


def main(args=None):
    rclpy.init(args=args)
    node = None
    try:
        node = GetMcActionClient()
        node.send_request()
    except KeyboardInterrupt:
        pass
    except Exception as e:
        rclpy.logging.get_logger('main').error(
            f'Program exited with exception: {e}')

    if node:
        node.destroy_node()
    if rclpy.ok():
        rclpy.shutdown()


if __name__ == '__main__':
    main()
```

--------------------------------

### Build Project with colcon

Source: https://x2-aimdk.agibot.com/zh-cn/latest/quick_start/code_sample

Commands to build the 'py_examples' package using colcon. This involves navigating to the SDK directory, sourcing the ROS 2 Humble environment, and then executing the build command. Ensure the path to aimdk and ROS 2 setup is correct.

```bash
# 进入SDK目录
# 注意将以下路径替换为解压后实际路径
cd /path/to/aimdk

# 设置环境变量
source /opt/ros/humble/setup.bash

# 构建项目
colcon build --packages-select py_examples

```

--------------------------------

### Install curse Module for Keyboard Control

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Cpp

This command installs the necessary 'curse' module, which is a prerequisite for enabling keyboard input control in the robot's terminal.

```bash
sudo apt install libncurses-dev

```

--------------------------------

### Add entry_points for Action Sequence Demo

Source: https://x2-aimdk.agibot.com/zh-cn/latest/quick_start/code_sample

This snippet shows how to add the 'action_sequence_demo' entry point to the setup.py file's entry_points configuration. This is crucial for making the Python script executable as a ROS 2 node.

```python
"action_sequence_demo = py_examples.action_sequence_demo:main",
```

--------------------------------

### Set Robot Mode Example (Python)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/control_mod/modeswitch

Python code example for setting the robot's motion mode. This snippet demonstrates how to call the set motion mode service.

```Python
# Python 示例 ：设置机器人模式
# Refer to the official documentation for the complete code.

```

--------------------------------

### Complete entry_points configuration

Source: https://x2-aimdk.agibot.com/zh-cn/latest/quick_start/code_sample

This shows the complete 'entry_points' section in setup.py, including the 'console_scripts' list where the 'action_sequence_demo' entry point should be added. This ensures the script is recognized as a command-line script by ROS 2.

```python
entry_points={
    "console_scripts": [
        # ... 现有条目 ...
        "action_sequence_demo = py_examples.action_sequence_demo:main",
    ],
},
```

--------------------------------

### Camera Topic Echo Node Initialization (Python)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

This Python code snippet demonstrates the initialization and spinning of the `CameraTopicEcho` node within a ROS 2 environment. It includes error handling for `KeyboardInterrupt` and general exceptions, ensuring proper node destruction and ROS shutdown.

```python
def main(args=None):
    rclpy.init(args=args)
    try:
        node = CameraTopicEcho()
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    except Exception as e:
        print(f"Error: {e}")
    finally:
        if 'node' in locals():
            node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()
```

--------------------------------

### Set Robot Mode Example (C++)

Source: https://x2-aimdk.agibot.com/zh-cn/latest/Interface/control_mod/modeswitch

C++ code example for setting the robot's motion mode. This snippet demonstrates how to call the set motion mode service.

```C++
// C++ 示例 ： 设置机器人模式
// Refer to the official documentation for the complete code.

```

--------------------------------

### Build SDK with Colcon

Source: https://x2-aimdk.agibot.com/zh-cn/latest/quick_start/prerequisites

This snippet demonstrates how to build the SDK using colcon after extracting it to the target environment. It includes setting up the ROS 2 environment variables and then building the SDK. This is typically done on the development compute unit.

```bash
# Set environment variables (skip this step for direct run mode on development compute unit)
source /opt/ros/humble/setup.bash

# Build SDK
# Assuming the copied and extracted directory is named aimdk in the X2 AimDK root directory
cd ./aimdk/
colcon build

```

--------------------------------

### GetMcAction Service Client

Source: https://x2-aimdk.agibot.com/zh-cn/latest/example/Python

This section details how to use the GetMcAction service to retrieve the robot's current operating mode, including its name and status. It provides a Python client example for interacting with this ROS service.

```APIDOC
## POST /aimdk_5Fmsgs/srv/GetMcAction

### Description
This endpoint allows you to retrieve the robot's current operating mode, including its name and status, by calling the `GetMcAction` service.

### Method
POST

### Endpoint
/aimdk_5Fmsgs/srv/GetMcAction

### Parameters
#### Query Parameters
None

#### Request Body
- **request** (aimdk_msgs.msg.CommonRequest) - Required - The request header, typically including a timestamp.

### Request Example
```json
{
  "request": {
    "header": {
      "stamp": "timestamp"
    }
  }
}
```

### Response
#### Success Response (200)
- **info** (aimdk_msgs.msg.McActionInfo) - Description of the robot's action mode.
  - **action_desc** (string) - The name of the robot's current mode.
  - **status** (aimdk_msgs.msg.Status) - The current status of the robot's mode.
    - **value** (integer) - The status code.

#### Response Example
```json
{
  "info": {
    "action_desc": "Running Mode",
    "status": {
      "value": 1
    }
  }
}
```

### Notes
- The provided Python code includes error handling, signal processing, and timeout mechanisms for robustness.
- When developing, it is recommended to implement additional exception handling and rapid retry mechanisms, as ROS service mechanisms may have optimization issues during cross-board communication.
```
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