ROS 2 Interface¶
The uMe platform provides a ROS 2-compatible interface through the uMe on-board SDK. Because the underlying middleware is DDS, the robot integrates naturally with ROS 2 tooling on the same LAN.
As with the C++ SDK, the ROS 2 interface lives on the robot side. For app and remote clients, the recommended interface is the Gateway API, which bridges the DDS/ROS 2 world to a mobile-friendly WebSocket/JSON contract.
When to use ROS 2¶
- You are running research or autonomy code on the robot or on a machine on the same wired LAN.
- You need direct access to raw topics (sensor data, motor commands) beyond what the Gateway currently forwards.
When to use the Gateway instead¶
- You are building a phone/tablet app or a remote tool.
- You want a stable, small command/status contract that does not depend on DDS discovery.
Reference¶
| Resource | Where |
|---|---|
| ROS 2 interface | uMe on-board SDK (internal URG repository) |
| Simulation & RL | uMe simulation and reinforcement-learning toolkits (URG internal) |
Note
Exposing selected ROS 2 topics through the Gateway (for example joint states and camera) is on the Roadmap.