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Enchanted ROS2 SDK

Welcome to the Enchanted ROS2 SDK! This software development kit provides tools and examples for controlling and visualizing Enchanted characters (Miroka and Miroki).

The SDK is organized into several packages that serve different purposes:

I. Robot Description

The mirokai_description package contains robot model files and visualization tools. - Features: - URDF models for Miroka and Miroki - RViz visualization - Character selection support

II. Control Examples

The control_examples package provides code examples for controlling the robot. - Features: - Position control - Velocity control - Torque control - Self-collision detection - Joint state monitoring

III. Visualization

The visualization package is essential for both real robot communication and data visualization. - visualization/native_visualization/README.md and visualization/visualization_from_docker/README.md.

  • Documentation:

    • native_visualization/README.md

    • visualization_from_docker/README.md

  • Features:

    • Docker Visualization: Run all visualization tools inside Docker—no installation required on your host system.

    • Native Visualization: Install prerequisites and run visualization directly on your laptop.

    • Real-time Data Streaming: Stream data from physical robots in real time.

    • Network Communication: Manage communication between the robot and visualization tools over the network.

    • RViz Integration: Visualize real robot data in RViz.

    • Joint State Data Handling: Distribute and visualize joint state data efficiently.