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DR02 Std SDK Guide

This document is the English overview of the DR02 Std product package. For repository-level information and product navigation, see the DEEPRobotics SDK root README.

This ROS 2 package provides the DR02 Std motion-control state machine and standalone Topic examples. Programs can run on a development host or robot-side device, and selected programs support validation with the MuJoCo simulation.

Features

  • DR02 Std RL state-machine control
  • Low-level joint state, joint command, and upper-body control examples
  • High-level motion state, gait, and velocity control examples
  • Monitoring examples for battery state and current-fault snapshots
  • Peripheral Topic examples for IMU and gamepad keys
  • Audio examples for WAV playback, volume control, and recording

Directory Layout

  • state_machine/: main DR02 Std state-machine program
  • low_level/: low-level joint and upper-body control Topic examples
  • high_level/: high-level motion state, gait, and velocity control examples
  • monitoring/: battery-state and current-fault snapshot monitoring examples
  • peripherals/: IMU and gamepad key peripheral examples
  • audio/: WAV playback, volume control, and recording examples
  • docs/: real-robot control, simulation, state-machine, and example documentation

Build Options

Option Default Description
BUILD_DR02_STD_STATE_MACHINE ON Build the state machine
BUILD_DR02_STD_LOW_LEVEL ON Build low-level joint and upper-body control examples
BUILD_DR02_STD_HIGH_LEVEL ON Build high-level motion, gait, and velocity examples
BUILD_DR02_STD_MONITORING ON Build monitoring examples
BUILD_DR02_STD_PERIPHERALS ON Build peripheral examples
BUILD_DR02_STD_AUDIO ON Build audio examples
BUILD_SIM OFF Enable simulation support; do not enable for real-robot control

Workflow

  1. Select Real-Robot Deployment and Control or Simulation Environment and Operation according to the control target.
  2. Prepare the environment and build the SDK according to the selected document.
  3. Run the State Machine or the required Topic Example.

Important

The SDK runtime location and control target are independent concepts. If ROS/DDS network communication is available, an SDK process running on a development host or the AOS host (10.21.33.103) may directly control the real robot.

Documentation

Document Contents
Real-Robot Deployment and Control Deployment on a development host or the AOS host, Developer Modes, and real-robot safety requirements
Simulation Environment and Operation SDK simulation build, runtime procedure, and supported programs
State Machine State transitions, runtime commands, keyboard control, gamepad control, and safety requirements
Topic Examples Topics, real-robot Developer Modes, simulation support, runtime commands, and notes for all examples

Important Safety Information

Warning

  • Real-robot programs may directly drive robot motion. Confirm that the robot state and surrounding motion area are safe before running them.
  • Before controlling the real robot, ensure that it has entered the Developer Mode required by the target program.
  • Only one /JOINTS_CMD publisher may run at a time.
  • If an abnormal condition occurs, use the red stop button on the gamepad to stop control immediately.