https://userguides.robotical.io/ 2026-10-28T07:33:04+00:00 https://userguides.robotical.io/ https://userguides.robotical.io/_media/logo.svg text/html 2026-10-20T22:44:31+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/martyv2/ros2/onboard_pi_camera?rev=1792536271&do=diff Onboard Pi, camera and RViz Run the Marty driver on an onboard Raspberry Pi and use another Linux computer for RViz. The Pi talks to Marty's RIC controller through the expansion UART cable. The Pi camera sends encoded video to the workstation; a separate receiver there publishes a standard ROS image topic. No Axiom or dashboard is required.marty_driverrpicam-vidmarty_camera/marty/camera/image_raw64-bit Raspberry Pithe Raspberry Pi mounting, cable and UART guidePisudo dockerconfig/robots.yamle… text/html 2026-10-20T22:44:24+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/lighting?rev=1792536264&do=diff Lighting controls in RViz Control the supported Robotical 32-LED, four-tier light from the Axiom host driver. The RViz panel discovers live lights and offers a colour picker, brightness, Off and four fixed-colour tiers. Individual pixels are also available through ROS command topics; the panel is not a pixel-painting editorInstall and connecthost firmware0.1.21-devlib-hostRoboticalLEDSticDevice Libraryaxiom-ros2Panels → Add New Panel → axiom_light_panel/LightPanelChoose colourApply colourApply … text/html 2026-10-20T22:43:01+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/martyv2/userguides/raspberry_pi/start?rev=1792536181&do=diff Adding a Raspberry Pi lets Marty V2 run Python programs on board, including projects using cameras and other Pi peripherals. Using a Chromebook? You do not need to enable Chromebook Linux for this guide.Run every terminal command on this page on the Pi Your computer → network connection → Raspberry Pi running Python → expansion cable → Marty The network connection is for accessing the Pi. The expansion cable carries commands between the Pi and Marty's RIC control board. Installing a Pi is opt… text/html 2026-10-20T22:42:56+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/martyv2/ros2/start?rev=1792536176&do=diff Connect Marty V2 to ROS 2 over USB, Wi-Fi or an onboard Pi expansion UART. The standalone driver provides accelerometer, joint and battery topics, connection services and a movement action. Commands run from a Bash terminal on Linux. * Install and connect — build on Linux, configure the machine and robot, then read accelerationTopics, services and movemenRViz simulatioOnboard Pi, camera and RVizrobotical/marty-ros2/marty/marty_driver/marty/connectsubscribe_rate_hzros2 topic echo/marty/disco… text/html 2026-10-20T22:42:51+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/start?rev=1792536171&do=diff Axiom with ROS 2 Connect Axiom to a Linux computer over USB or Wi-Fi and use its sensors in ROS 2. Thehost driver runs on that computer, discovers supported connected devices, publishes measurements as ROS topics, accepts servo-angle and LED-colour targets on command topics, and exposes discrete enable/configuration operations as acknowledged ROS services.host firmware1Install and connect2Automatic startup and discovery3Sensors and multiple boards4Standard messages and mappings5Servo and LED co… text/html 2026-10-20T22:42:41+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/martyv2/ros2/interfaces?rev=1792536161&do=diff Topics, services and movement Start with Install and connect. Run commands in a terminal prepared with source scripts/setup_env.sh. The driver node publishes topics, serves connection/control requests and provides a movement action. Names below use the default /marty namespace. Topic Message type /marty/imu/data_rawsensor_msgs/msg/Imu/marty/joint_statessensor_msgs/msg/JointState/marty/servo_statesmarty_interfaces/msg/ServoStates/marty/batterysensor_msgs/msg/BatteryState/marty/telemetryma… text/html 2026-10-20T22:42:37+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/martyv2/ros2/getting_started?rev=1792536157&do=diff Install and connect Build the standalone Marty V2 driver and read its accelerometer. For a driver on an onboard Pi with video received on another computer, use Onboard Pi, camera and RViz instead; the Pi uses a headless container and the workstation needs only the camera/interfaces packages. Use Ubuntu 24.04, ROS 2 Jazzy, Python 3.12 and Bash.Ubuntu installation instructionscolconcolconconfig/machine.envscripts/setup_env.shMARTY_ROS_ROOTROS_WORKSPACEROS_SETUP_FILEROS_DOMAIN_IDUSBconfig/robots… text/html 2026-10-20T22:42:28+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/sensors_and_boards?rev=1792536148&do=diff Sensors and multiple Axioms Complete the host-driver setup and leave discovery running. Automatic startup, stable board names and optional identity rules are described in automatic startup. The examples use the namespace /axiom. Substitute your configured namespace and the actual discovered sensor identities. /axiom_discovery/boardscommand_topicscommandspublic_topicsoutput_info[group][suffix]message_typeunitnulan inventory exampleambientsensor_msgs/msg/IlluminanceUVIstd_msgs/msg/Float64BoolStri… text/html 2026-10-20T22:42:24+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/output_topics?rev=1792536144&do=diff Servo and LED command topics Send servo targets and LED colours directly to the Axiom host driver using standard ROS topics. The driver converts the messages to the commands described by the connected device's firmware profile. It uses its existing USB or Wi-Fi connection; no second connection or firmware ROS node is neededInstall and connectmainangleset anglecommandsstd_msgs/msg/Float64f: LEDPIXcommands/pixels/pixel_0std_msgs/msg/ColorRGBAcolorcolourrgb06xstd_msgs/msg/ColorRGBAaxiom_interfaces… text/html 2026-10-20T22:42:19+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/getting_started?rev=1792536139&do=diff ROS 2: install and connect Connect Axiom to a Linux computer over USB or Wi-Fi and use its sensors in ROS 2. Thehost driver runs on that computer. It discovers supported connected devices, publishes measurements as ROS topics, accepts servo-angle and LED-colour targets on command topics, and exposes discrete enable/configuration operations as acknowledged ROS services. A compatible Raspberry Pi can serve as the host just as a desktop computer can.host firmwareAxiom updaterDevice Library guidesU… text/html 2026-10-20T22:42:15+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/dashboard?rev=1792536135&do=diff Use the browser guide to learn commands, inspect interfaces and follow the ROS graph. Run the commands in the console;the driver, acquisition and RViz work independently of the dashboard. [Thermal sensor grid through the visualiser to RViz] Reference data flow for the thermal scenario. The dashboard pairs each console command with an explanation and expected result; the live interface supplies discovered sensor pathsInstall and connect/path/to/axiom-ros2pwdmachine.envUSERROS_HOST_IPCOLCON_IG… text/html 2026-10-20T22:42:03+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/start?image=martyv2%3Aros2%3Aonboard-pi-camera-49fb96e.png&ns=martyv2%3Aros2&rev=1792536123&tab_details=history&media_do=diff&do=media <img src="https://userguides.robotical.io/_media/martyv2/ros2/onboard-pi-camera-49fb96e.png?w=500&amp;h=500&amp;tok=bb875b" alt="onboard-pi-camera-49fb96e.png" loading="lazy" width="500" height="500" /> text/html 2026-10-20T22:42:01+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/start?image=axiom%3Aros2%3Alighting-panel-6615363.png&ns=axiom%3Aros2&rev=1792536121&tab_details=history&media_do=diff&do=media <img src="https://userguides.robotical.io/_media/axiom/ros2/lighting-panel-6615363.png?w=500&amp;h=500&amp;tok=6bac92" alt="lighting-panel-6615363.png" loading="lazy" width="500" height="500" /> text/html 2026-10-19T18:20:49+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/shake_demo?rev=1792434049&do=diff Movement, recording and replay demo Use an Axiom IMU to show how one ROS measurement stream can feed several independent applications. A shake detector publishes typed events; a separate robot-face node reacts to those events. A local teaching dashboard adds live plots, recording and replay. A clearly labelled synthetic clip is available when hardware is absent.axiom_shake_detectothe host setuscenarios dashboardsensor_msgs/msg/Imu/movement_demo/face/state/axiom/axiomIMU_TOPIC/axiomdashboard_hos… text/html 2026-10-19T18:20:46+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/servo_slider?rev=1792434046&do=diff Servo slider and right-leg preview Control one servo through the driver's direct angle-command topic using the same joint_state_publisher_gui sliders as Marty. The GUI runs alongside RViz. The GUI adapter publishes radian targets and calls an acknowledged enable service; it does not open a second USB/Wi-Fi connection or start another Axiom driver. No trajectory controller is required.BOARD_NSTerminal 1Terminal 2Terminal 3Terminal tmux helperscripts/setup_env.shToggle it while running:DisplaysRo… text/html 2026-10-19T18:19:54+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/axiom/ros2/standard_messages?rev=1792433994&do=diff The host driver turns decoded Axiom measurements into ROS messages. Use a semantic message such as sensor_msgs/msg/Illuminance when the quantity is known, or a scalar topic when no supported semantic adapter applies. The generic sample and data outputs remain available for full decoded values and validityInstall and connectmaiInstall and buildros.version: Servo and LED command topicsBOARD_NS/axiom_discovery/boardstopicpublic_topics[group][suffix]topic: nulloutput_info[group][suffix]message_typeu… text/html 2026-10-19T18:17:55+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/start?image=axiom%3Aros2%3Aaxiom-spectrum-panel-0-1-1.jpg&ns=axiom%3Aros2&rev=1792433875&tab_details=history&media_do=diff&do=media <img src="https://userguides.robotical.io/_media/axiom/ros2/axiom-spectrum-panel-0-1-1.jpg?w=500&amp;h=500&amp;tok=f6b869" alt="axiom-spectrum-panel-0-1-1.jpg" loading="lazy" width="500" height="500" /> text/html 2026-10-19T18:17:54+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/start?image=axiom%3Aros2%3Aros2-right-leg-preview-91000b4.png&ns=axiom%3Aros2&rev=1792433874&tab_details=history&media_do=diff&do=media <img src="https://userguides.robotical.io/_media/axiom/ros2/ros2-right-leg-preview-91000b4.png?w=500&amp;h=500&amp;tok=dc6efa" alt="ros2-right-leg-preview-91000b4.png" loading="lazy" width="500" height="500" /> text/html 2026-10-19T18:17:53+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/start?image=axiom%3Aros2%3Aros2-output-control-5bf126e.png&ns=axiom%3Aros2&rev=1792433873&tab_details=history&media_do=diff&do=media <img src="https://userguides.robotical.io/_media/axiom/ros2/ros2-output-control-5bf126e.png?w=500&amp;h=500&amp;tok=4e4c22" alt="ros2-output-control-5bf126e.png" loading="lazy" width="500" height="500" /> text/html 2026-10-16T16:47:00+00:00 nikos (nikos@undisclosed.example.com) https://userguides.robotical.io/start?image=axiom%3Aros2%3Aros2-thermal-graph-7e5bec9.png&ns=axiom%3Aros2&rev=1792169220&tab_details=history&media_do=diff&do=media <img src="https://userguides.robotical.io/_media/axiom/ros2/ros2-thermal-graph-7e5bec9.png?w=500&amp;h=500&amp;tok=405a09" alt="ros2-thermal-graph-7e5bec9.png" loading="lazy" width="500" height="500" />