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Live Robot Workflows

Use this after the tutorial track

This page is for live-system references. If you are not already comfortable with the SDK shape, work through Tutorial 7: Live robot checklist first.

These are the curated examples that are meant to mirror real robot graphs instead of synthetic paired runtimes.

Carter fleet​

Use python/examples/carter_registration.py when your ROS graph provides:

  • /tf
  • /tf_static
  • /shared_map
  • /<robot>/cmd_vel
  • /<robot>/chassis/odom
  • /<robot>/front_2d_lidar/scan
  • /<robot>/front_stereo_camera/left/image_raw/compressed
  • /rviz/<robot>/plan
  • /rviz/<robot>/local_plan

Launch:

cd ~/horus_sdk
source /opt/ros/jazzy/setup.bash
source ~/horus_ws/install/setup.bash
export PYTHONPATH=python:$PYTHONPATH
python3 python/examples/carter_registration.py

Unitree Go1​

Use python/examples/unitree_go1_registration.py when you have the real Go1 ROS graph plus the Go1 description package available locally.

Run the relay in one terminal and the registration in another:

# terminal A
python3 python/examples/tools/unitree_go1_high_mode_relay.py

# terminal B
python3 python/examples/unitree_go1_registration.py

This workflow covers:

  • URDF-backed body visualization
  • front compressed camera registration
  • LaserScan registration
  • collision alert DataViz
  • stand/sit relay behavior for HORUS MR controls

Observability expectations​

For both live workflows, validate:

  • registration ACK appears
  • the expected sensor topics are present
  • Robot Manager opens for the intended robot only
  • camera, task, and DataViz layers align to the real TF tree