Environment Requirements and Build

Environment Requirements

• ROS2 environment (ROS2 Humble recommended)
• Ubuntu 22.04 for local simulation
• Real robot uses ARM build target (Lite3 onboard computing is Ubuntu 20.04 + ROS2 Foxy)
• Simulation requires libevdev-dev, numpy < 2.0, mujoco

Build Example

Simulation Side Build

sudo apt-get update
sudo apt-get install libevdev-dev
pip install "numpy < 2.0" mujoco

cd sdk_deploy
source /opt/ros/<ros-distro>/setup.bash
colcon build --packages-up-to lite3_sdk_deploy --cmake-args -DBUILD_PLATFORM=x86

Real Robot Side Build

source /opt/ros/foxy/setup.bash
colcon build --packages-up-to lite3_sdk_deploy --cmake-args -DBUILD_PLATFORM=arm

Run Example

Local run example (requires two terminals):

# Terminal 1
source install/setup.bash
ros2 run lite3_sdk_deploy rl_deploy

# Terminal 2
source install/setup.bash
python3 src/Lite3_sdk_deploy/interface/robot/simulation/mujoco_simulation_ros2.py

Verification Example

After running, check topics with the following command:

ros2 topic list
/BATTERY_DATA       # (Not yet available)
/IMU_DATA
/JOINTS_CMD
/JOINTS_DATA
/GAMEPAD_DATA
/parameter_events
/rosout