Hardware Integration

ROS/ROS2 Integration

import rclpy
from rclpy.node import Node

class RobotController(Node):
    def __init__(self):
        super().__init__('controller')
        self.publisher = self.create_publisher(JointCommand, '/joint_commands', 10)
        self.subscription = self.create_subscription(JointState, '/joint_states', self.callback, 10)

Real-Time Considerations

• Use real-time kernels
• Prioritize threads appropriately
• Minimize callback latencies

Calibration

• Camera intrinsics/extrinsics
• Robot kinematics
• Force/torque sensors

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