RL Control Example

DR02 Pro RL training video or Bilibili · DR02 video tutorials

Overview

This example demonstrates how to perform RL control interaction with the DR02 robot via ROS2 topics.

RL training code: DeepRoboticsLab/rl_training

Motion State Transitions

Users can switch the robot’s RL control state via the /MOTION_STATE topic:

Motion State	State Value
Idle	0
Joint Damping / Soft E-Stop	2
RL Control	17
Suspended Stand-up	0x20006

Switch to RL Control Mode

import rclpy
from rclpy.node import Node
from drdds.msg import MotionState

class RLControlNode(Node):
    def __init__(self):
        super().__init__('rl_control_node')
        self.publisher = self.create_publisher(
            MotionState, '/MOTION_STATE', 10)

    def enable_rl_control(self):
        msg = MotionState()
        msg.header.frame_id = 0
        msg.data.state = 17  # RL control state
        self.publisher.publish(msg)
        self.get_logger().info('Switched to RL control mode')

Velocity Command Dispatch

Send normalized velocity commands via the /STEER topic to control robot movement:

Field	Meaning	Range
x	Forward/backward velocity	[-1, 1]
y	Left/right velocity	[-1, 1]
z	Vertical velocity	[-1, 1]
roll	Roll angle	[-1, 1]
pitch	Pitch angle	[-1, 1]
yaw	Yaw angle	[-1, 1]

Send Velocity Command Example

from drdds.msg import Steer

def send_velocity_cmd(node, vx, vy, vyaw):
    msg = Steer()
    msg.header.frame_id = 0
    msg.x = vx      # Forward/backward (1.0 = max speed forward)
    msg.y = vy      # Left/right (1.0 = max speed left)
    msg.z = 0.0     # Height
    msg.roll = 0.0
    msg.pitch = 0.0
    msg.yaw = vyaw  # Yaw (rotation)
    node.publisher.publish(msg)