Overview

The ROS 2 modules on this page live in sdk_deploy. The ROS 2 migration tutorial or Bilibili explains this architecture. See downloads and resources for the UDP deployment option.

Main Modules

The project contains three main modules:

• Lite3_sdk_deploy: Policy inference + state machine control
• lite3_transfer: Hardware interface layer, responsible for bidirectional conversion between UDP and ROS2 messages
• lite3_sdk_service: Service management layer, remotely controls lite3_transfer start/stop and frequency adjustment via UDP

Module Directories

Lite3_sdk_deploy:

• interface/robot: Robot interface abstraction, DDS hardware access, simulation access
• interface/user_command: Keyboard and Retroid gamepad input
• state_machine: State machine and state implementations
• run_policy: Policy inference and action generation
• include/types: Robot enumerations, state enumerations, control types
• include/utils: Safety controller, topic tracking utilities

lite3_transfer:

• interface/robot: UDP hardware interface (HardwareInterface)
• interface/gemepad_command: Retroid gamepad UDP publisher
• third_party/Lite3_MotionSDK: Lite3 motion control SDK library

lite3_sdk_service:

• service: SDK service interface (SdkService) and Lite3 implementation (Lite3SdkService)

Code Resources

Resource	Description
Lite3_rl_deploy	Lite3 UDP policy deployment workflow; separate from the ROS 2 modules above
sdk_deploy	Lite3 policy deployment, state machine and UDP-ROS 2 message conversion
rl_training	Isaac Lab-based Lite3 reinforcement learning policy training