Table of Contents
Axiom with ROS 2
Use Axiom's sensors in ROS 2 over USB or Wi-Fi. The driver discovers connected devices, publishes their measurements as ROS topics, and exposes descriptor-defined configuration and output commands as ROS services.
Start here
- Install and connect — build on Linux, configure a USB or Wi-Fi board, then request and inspect sensor data.
- Sensors, hot swapping and multiple Axioms — follow topics as devices appear, use optional aliases, inspect services and run several boards.
- Thermal camera in RViz — a complete four-terminal workflow for an AMG8833 camera, including per-pixel temperatures.
- Optional scenarios dashboard — use the command guide and ROS graph while controlling everything from the console.
RViz thermal heatmap with temperatures in °C. This illustration uses synthetic data; the workflows use a real Axiom.
What you need
| Requirement | Details |
|---|---|
| Linux with ROS 2 | Tested on Ubuntu 24.04 with ROS 2 Jazzy, including a Raspberry Pi 5 running Ubuntu. |
| Axiom firmware | Firmware must support the connected device and supply its descriptor. The development stack has been checked with 0.1.16-devlib; see the Device Library guides for profiles and firmware. |
| Connection | USB serial, or Axiom already connected to your Wi-Fi network with a reachable IP address. |
| Source access | robotical/axiom-ros2 is currently a private repository. Your GitHub account needs access. |
These pages describe the development package and its current behaviour. The console steps keep connection and acquisition manual.
How the pieces fit together
| Piece | Job |
|---|---|
| Axiom firmware | Detects and reads devices, supplies descriptors and sends measurement packets. |
| axiom_driver | Maintains one connection per board, decodes packets, manages device lifetime and publishes ROS interfaces. |
| axiom_interfaces | Defines custom messages and the driver's connection, acquisition and device-command services. |
| ROS topics and services | Let your own nodes consume measurements and request configuration or output operations. |
| axiom_thermal_viz and RViz | Convert thermal grids into coloured markers and temperature labels. |
| Optional dashboard | Shows commands, available interfaces, scenarios and the current ROS graph. |
The driver and visualisation work without the dashboard. Run one firmware acquisition client per Axiom and let other consumers subscribe to its ROS topics.
Source and reference
Repository links require GitHub access. Start with Install and connect.