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.

Quick Start

• Start here: setup_sdk.md
• Docker visualization: visualization_from_docker
• Native visualization: native_visualization
• Control examples: control_examples
• Wheel control: wheel_control

Packages

I. Robot Description

The mirokai_description package contains robot model files and visualization tools.

• URDF models for Miroka and Miroki
• RViz default configuration
• Character selection support

II. Control Examples

The control_examples package provides code examples for controlling the robot.

• Position control
• Velocity control
• Torque control
• Self-collision detection
• Joint state monitoring

III. Wheel Control

The ballbot_balancing_pid and enchanted_wheel_commands_test packages enable direct ROS2 wheel control of the ballbot.

• PID balancing controller (IMU → wheel commands)
• Raw wheel velocity test node
• Must be run directly on the robot

III. Visualization

The visualization package is essential for both real robot communication and data visualization.

• Docker visualization: visualization_from_docker

• Native visualization: native_visualization

• Docker visualization: Run all visualization tools inside Docker.

• Native visualization: Runs RViz2 and Zenoh directly on the host.
• Real-time data streaming from physical robots.
• Network communication between robot and visualization tools.
• RViz integration for live robot state.
• Joint state data handling and distribution.