STAR1 Example Package

This repository contains example ROS 2 packages for STAR1 robot control, developed by RobotEra.

Overview

This repository includes the following packages:

• star1_example: A metapackage containing example packages for STAR1 robot
• simple_trajectory_server: A trajectory server implementation for basic motion control
• xbot_common_interfaces: Common interface definitions used by STAR1 robot
• rl_controller: A real-time reinforcement learning (RL) controller implemented as a ROS 2 package.

Common Interfaces

The xbot_common_interfaces package defines:

• Custom messages for robot state and control
• Service definitions for robot operations
• Action definitions for motion control

Simple Trajectory Server

The simple trajectory server provides basic trajectory execution capabilities:

• Supports different trajectory types (zero position, sinusoidal wave)
• Configurable joint control parameters
• Real-time execution feedback
• ROS 2 action server interface

RL Controller

This package uses a TorchScript neural network policy to generate precise motor commands for robotic platforms, processing multiple sensor inputs including IMU data, motor feedback, and remote control commands.

Usage

1. Build the packages:

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

2. Launch control sdk

   source install/setup.bash
   
   ros2 service call /dynamic_launch xbot_common_interfaces/srv/DynamicLaunch \
   "app_name: '' 
   sync_control: false 
   launch_mode: 'pd'"
   
   ## replace `pd` with `no_hand_pd` if no hand on robot

3. Switch robot to ready state

   source your_ws/install/setup.bash
   ros2 service call /ready_service std_srvs/srv/Trigger {}   

4. Run demo
   • Simple trajectory
     1. Launch trajectory server

     source install/setup.bash
     ros2 launch simple_trajectory_server simple_trajectory_server.launch.py

     2. Execute zero trajectory

        source install/setup.bash
        ros2 action send_goal /simple_trajectory_action xbot_common_interfaces/action/SimpleTrajectory "traj_type: 0 duration: 4.0"  

     3. Execute sin wave trajectory

        source install/setup.bash
        ros2 action send_goal /simple_trajectory_action xbot_common_interfaces/action/SimpleTrajectory "traj_type: 1 duration: 10.0"  

   • RL controller
     1. Switch robot to active state

        source your_ws/install/setup.bash
        ros2 service call /activate_service std_srvs/srv/Trigger {}   

     2. Launch the controller:

        source install/setup.bash
        ros2 launch rl_controller rl_controller.launch.py

     3. Operate radiolink

Support & Contact

For technical support or business inquiries:

• Email: support@robotera.com
• Create an issue in this repository

About RobotEra

RobotEra is dedicated to advancing humanoid robotics technology.We specialize in developing robust and versatile humanoid robots for real-world applications.

License

This project is licensed under the BSD 3-Clause License - see the LICENSE file for details.