Autonomics Labs Robotics Stack

Documentation for the core_* robotics stack: 79 ROS 2 packages that together plan and execute motions, drive end effectors, and run complete sorting applications in simulation and on hardware.

New here? Read Architecture first — it explains how the pieces fit together — then follow Getting started to run a workcell.

Building an application? Build a new application is the guide.

Concepts

• Architecture
  • Which layer am I writing in?
  • The request path
  • Applications are a template, not a framework call
  • Configuration is part of the API

Getting Started

• Getting started
  • Prerequisites
  • Build
  • Run the demo
  • Command a motion
  • Shut down properly
  • Where to go next

Tutorials

• Build a new application
  • The mapping
  • Step 1 — Decide what your application does
  • Step 2 — Create the bringup package
  • Step 3 — Add the CLI
  • Step 4 — Add the controller
  • Step 5 — Move the arm
  • Step 6 — Drive the end effector
  • Step 7 — Add decision taking
  • Checklist
  • Common mistakes

How-to Guides

• How-to guides
  • Debug a collision
  • Tune speed profiles
  • Log from your code

Reference

• Interfaces
• C++ and Python API
  • Client facades
  • Foundation libraries
  • Error codes
  • Generated documentation