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Application Robot Configuration

Switch/Add New Robot​

If TeleXperience already supports your robot, refer to the Switch Robot section to switch to your robot configuration.

If you wish to add a new robot configuration, please prepare:

  1. Robot configuration file in .zip format. The compressed package should have the following structure: 
    {RobotName}/
    |- mesh/
    |- urdf
    |- vr_configs.yml
    |- controller_v2.yml(optional)
    |- mocap_to_robot_command_v2.yml(optional)
  2. Industrial control computer ROS node. Deploy the industrial control computer ROS node:
    • In the robot main controller, record the robot main controller IP, and connect TeleBox to the robot. For connection methods, refer to the Switch Robot section.
    • If the industrial control computer ROS node cannot be deployed in the robot main controller, it can be deployed in an additional computer, and connect the additional computer, robot, and TeleBox variable IP port through a switch.

Connect your personal computer to the TeleXperience system Wi-Fi and access the configuration interface at http://10.42.0.3:7876:

At the bottom of the webpage, go to Advanced Settings -> Robot Management -> Upload New Robot -> Select the corresponding robot's compressed package to upload -> Complete -> Refresh the webpage

Communication Configuration​

Connect your personal computer to the TeleXperience system Wi-Fi and access the configuration interface at http://10.42.0.3:7876:

  1. At the top of the webpage, click Create New Configuration -> Fill in the configuration name (recommended format: RobotName_ROS1/2) -> Select Adapted Robot as the robot just uploaded -> Confirm
  2. Communication Protocol -> Select ROS1 or ROS2
  • Select ROS1 -> Fill in Robot IP (ROS1) as the IP where ROS1 master is located, which may be the robot main controller or additional computer IP
  • Select ROS2 -> Fill in DDS working domain_id, matching your robot requirements. If there are no special requirements, it can be set to 0 by default
  1. Interactive IP Configuration. The interactive IP is the IP of TeleBox's interactive port/variable IP port
  • Require the interactive IP to be set to any IP (cannot be the same) in the same subnet as Robot IP. Interactive Subnet Mask can be set to 255.255.255.0, Interactive Gateway is set to an IP in the same subnet as Robot IP, with the last digit can be set to .1 (cannot be the same as Robot IP or Interactive IP)
  • Note: If using the 10.42.0 subnet, avoid fixed IPs within the TeleXperience system, including: 10.42.0.1 (router), 10.42.0.2 (TeleSuit), 10.42.0.3 (TeleBox). VR is a variable IP and can be viewed by accessing 10.42.0.1 webpage to enter the router management interface
  1. After modification, click Apply Configuration to save.

Change Data Collection Rules​

TeleXperience provides data collection services. Which ROS topic data to collect can be configured by yourself.

Connect your personal computer to the TeleXperience system Wi-Fi and access the configuration interface at 10.42.0.3:7876:

  1. Message Rules. For built-in source messages, you can choose whether to record in the storage column. If yes is selected, the message will be checked during data collection. If message publishing is not detected, there will be an error reminder. For specific message content, please refer to the introduction in the Learn TeleXperience System section
  2. TeleXperience also supports recording other ROS standard message types you publish. In Message Rules -> Custom Messages -> Edit:
  • If Communication Protocol is set to ROS2, then Add Custom Message -> Message Type, select the message type you want to record (those beyond the list are not currently supported) -> Fill in your topic name in Original Message Name -> Save changes
  • If Communication Protocol is set to ROS1, then Add Mapping Relationship -> Message Type, select the message type you want to record (those beyond the list are not currently supported) -> Fill in your topic name in Original Message Name -> Fill in Mapped Message name as the name you want to store this topic as -> Save changes
  1. After modification, click Apply Configuration to save.

Change VR Image Synchronization Window​

TeleXperience supports image synchronization. If you wish to synchronously display the robot's perception images in VR, please ensure that image information is published in ROS1 or ROS2 CompressedImage format according to the following specifications:

  • Resolution can be: 1920x1080, 1440x1080, 1280x720, 960x720, 640x480
  • Frame rate can be: 30fps, 15fps, 10fps

Operation Steps:

  1. Refer to the previous section to add all image topics in custom messages
  2. In Camera View Topic, select the added topic name, select the corresponding camera resolution and camera frame rate. Encoding format note: JPEG is available by default. If your image resolution is 1080P, H264 is recommended
  3. In View Layout, you can choose different image layouts. The numbers in the layout window display are camera numbers, matching the numbers before Camera View Topic
  4. After modification, click Apply Configuration to save

Configure End-effector​

Connect your personal computer to the TeleXperience system Wi-Fi and access the configuration interface at http://10.42.0.3:7876, in the end-effector configuration entry:

End-effector Selection

Selection Instructions:

  • If you wish to use motion capture gloves to control the dexterous hand, you can select the model matching your physical robot from the dexterous hands listed here
  • If you use a gripper, or only wish to use the VR controller side trigger to control the dexterous hand open/close, select None here