Connect to your robot

How to connect to your robot.

Connect to the embedded computer#

For Full/Starter kit only:
Connect a screen, a mouse and a keyboard to Reachy.

You can also access it via ssh. You will first need to know Reachy’s IP on your network. Then, using your own reachy-ip you can access it via:

ssh reachy@<reachy-ip>

Don’t know what is your reachy-ip? Check out how to find the Reachy’s IP.

Check ROS is providing access to the topics#

Open a terminal on the computer, and enter:

ros2 topic list

Full/Starter kit topic list#

You should see the following list:

/fan_states
/force_sensors
/joint_goals
/joint_states
/joint_temperatures
/left_image
/parameters_events
/right_image
/robot_description
/rosout
/tf
/tf_static

Arm kit topic list#

You should see the following list:

/fan_states
/force_sensors
/joint_goals
/joint_states
/joint_temperatures
/parameters_events
/robot_description
/rosout
/tf
/tf_static

Check the topics are correctly updated#

On a terminal on the computer, and enter:

ros2 topic echo /joint_states

The logs correspond to the motors positions in radians. Try to move an arm to check they are correctly updated.

Launch demo programs#

In ~/dev/reachy-sdk/notebooks, you can find examples of use for reachy-sdk.

Try them using jupyter:

cd ~/dev/reachy-sdk/notebooks
jupyter notebook

If you want to launch the notebooks while connected via ssh:

jupyter notebook --ip=0.0.0.0

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