Connect to your robot

How to connect to your robot.

Connect to the embedded computer #

For Full/Starter kit only:
Connect a screen, a mouse and a keyboard to Reachy.

You can also access it via ssh. You will first need to know Reachy’s IP on your network. Then, using your own reachy-ip you can access it via:

ssh reachy@<reachy-ip>

Check ROS is providing access to the topics #

Open a terminal on the computer, and enter:

ros2 topic list

Full/Starter kit topic list #

You should see the following list:

/antenna_forward_position_controller/commands
/antenna_forward_position_controller/transition_event
/diagnostics
/dynamic_joint_commands
/dynamic_joint_states
/forward_fan_controller/commands
/forward_fan_controller/transition_event
/forward_pid_controller/commands
/forward_pid_controller/transition_event
/forward_speed_limit_controller/commands
/forward_speed_limit_controller/transition_event
/forward_torque_controller/commands
/forward_torque_controller/transition_event
/forward_torque_limit_controller/commands
/forward_torque_limit_controller/transition_event
/gripper_forward_position_controller/commands
/gripper_forward_position_controller/transition_event
/grippers/commands
/head/averaged_target_pose
/head/target_pose
/joint_commands
/joint_state_broadcaster/transition_event
/joint_states
/kinematics/transition_event
/l_arm/averaged_target_pose
/l_arm/target_pose
/l_arm_forward_position_controller/commands
/l_arm_forward_position_controller/transition_event
/left_image/image_raw/compressed
/neck_forward_position_controller/commands
/neck_forward_position_controller/transition_event
/parameter_events
/r_arm/averaged_target_pose
/r_arm/target_pose
/r_arm_forward_position_controller/commands
/r_arm_forward_position_controller/transition_event
/right_image/image_raw/compressed
/robot_description
/rosout
/tf
/tf_static

Check the topics are correctly updated #

On a terminal on the computer, and enter:

ros2 topic echo /joint_states

The logs correspond to the motors positions in radians. Try to move an arm to check they are correctly updated.

Launch demo programs #

In ~/dev/reachy-sdk/notebooks, you can find examples of use for reachy-sdk.

Try them using jupyter:

cd ~/dev/reachy-sdk/notebooks
jupyter notebook

If you want to launch the notebooks while connected via ssh:

jupyter notebook --ip=0.0.0.0