To integrate any ROS 2 robot with LGDXRobot Cloud, the robot must map the following topics and services. In addition, Nav2 must be installed on the robot.
LGDXRobot Cloud requires the following information provided by the robot. Change the robot node to map the following topics.
| Topic Name | Type | Description |
|---|---|---|
| /cloud/robot_data | lgdxrobot_cloud_msgs/RobotData | Robot data sent to the cloud |
RobotData includes the following fields:
| Field Name | Type | Description |
|---|---|---|
| hardware_emergency_stop_enabled | bool | Indicates whether the robot is in a hardware emergency stop state. |
| batteries_voltage | float32[2] | Battery voltages: [0] for the first battery, [1] for the second battery. |
| Topic Name | Type | Description |
|---|---|---|
| /cloud/software_emergency_stop | std_msgs/Bool | Enables or disables the software emergency stop to halt robot movement. |
The LGDXRobot Cloud Adapter requires the transform from the map frame to the robot’s base_link frame. This transform is usually provided by the Nav2 stack.
LGDXRobot Cloud can optionally validate the serial number of the robot’s controller board. When need_mcu_sn is set to true, send the serial number to allow the LGDXRobot Cloud Adapter to initialise the connection.
| Service Name | Type | Description |
|---|---|---|
| /cloud/mcu_sn | lgdxrobot_cloud_msgs/McuSn | Validates the serial number of the controller board. |
The lgdxrobot_cloud_msgs/McuSn service contains only one field:
| Field Name | Type | Description |
|---|---|---|
| mcu_sn | string | Serial number of the controller board. |