lgdxrobot2_daemon is the core application responsible for integrating the LGDXRobot2 MCU with ROS2 and the cloud.
| Parameter | Type | Description |
|---|---|---|
| cloud_enable | bool | Enables connection to the LGDXRobot2 Cloud. |
| cloud_address | string | Address of the LGDXRobot2 Cloud service. |
| cloud_root_cert | string | Path to the server’s root certificate (required by the cloud). |
| cloud_client_key | string | Path to the client’s key file (required by the cloud). |
| cloud_client_cert | string | Path to the client’s certificate file (required by the cloud). |
| Parameter | Type | Description |
|---|---|---|
| serial_port_enable | bool | Enables the serial connection. If unspecified (Linux only), an automatic search is performed. |
| serial_port_name | string | The name of the serial port device. |
| serial_port_reset_transform | bool | Resets the robot’s transform on initialisation. |
| serial_port_control_mode | string | Control mode, e.g., joy for joystick or cmd_vel for ROS navigation stack. |
| serial_port_publish_odom | bool | Enables publishing of odometry information. |
| serial_port_publish_tf | bool | Enables publishing of tf transformation frames. |
| serial_port_base_link_name | string | Custom name for the base_link frame. |
| serial_port_use_external_imu | bool | Enables the use of an external IMU for odometry calculations. |
To connect LGDXRobot2 using a joystick:
cd lgdx_ws
. install/setup.bash
ros2 launch lgdxrobot2_mcu joy.launch.py