Examples¶

Each example can be run in a separate terminal while the driver is active:

source install/setup.bash
ros2 run rby1_examples <example_name>

Example	Command	Description
`01_power_control`	`ros2 run rby1_examples 01_power_control`	Full power lifecycle: Power ON/OFF, Servo ON/OFF
`02_robot_status_monitor`	`ros2 run rby1_examples 02_robot_status_monitor`	Continuously prints state monitor (Motor state, brakes, battery, etc)
`03_tool_flange_monitoring`	`ros2 run rby1_examples 03_tool_flange_monitoring`	Continuously prints tool flange data
`04_joint_state_monitoring`	`ros2 run rby1_examples 04_joint_state_monitoring`	Prints per-component joint positions in real time
`05_gravity_compensation`	`ros2 run rby1_examples 05_gravity_compensation`	Enables/Disable gravity compensation mode
`06_zero_pose`	`ros2 run rby1_examples 06_zero_pose`	Moves all joints to 0 rad simultaneously
`07_joint_command`	`ros2 run rby1_examples 07_joint_command`	Sends Ready Pose with joint_position(right), joint_impedance(left)
`08_cartesian_command`	`ros2 run rby1_examples 08_cartesian_command`	Sends Ready Pose and moves the arms to a target Cartesian pose with cartesian_position(right), cartesian_impedance(left)
`09_multi_controls`	`ros2 run rby1_examples 09_multi_controls`	Simultaneous joint + Cartesian control per body part
`10_trajectory_joint_command`	`ros2 run rby1_examples 10_trajectory_joint_command`	Streams a pre-computed trajectory via standard FollowJointTrajectory action
`11_cancel_control`	`ros2 run rby1_examples 11_cancel_control`	Demonstrates action cancel and `cancel_control` service
`12_mobile_base_control`	`ros2 run rby1_examples 12_mobile_base_control`	Drives the mobile base via `cmd_vel`
`13_stream_command`	`ros2 run rby1_examples 13_stream_command`	Alternates Zero/Ready poses using regular joint commands over persistent stream with varying wait intervals
`14_collision_safety_control`	`ros2 run rby1_examples 14_collision_safety_control`	use collision value in robot.state, Demonstrates that when collision happens, robot automatically moves retreat to initial safe pose.

[!IMPORTANT] Two ways to stop control commands (see Example : 11_cancel_control):

Action cancel — Cancels only the current action goal. The stream remains open, so subsequent commands can continue immediately.

cancel_control service — Immediately stops all control commands and forcibly closes the stream for safety.

⚠️ If you are using stream-based control (e.g., cmd_vel, Example 13), calling cancel_control will also shut down the stream.
You will need to re-open the stream (/stream_control state: true) before sending further commands.
If you only want to pause or cancel a specific motion while keeping the stream alive, use the action cancel instead (see Example 13).

If an issue arises, please check the Troubleshooting & Known Issues section to see if there is any relevant information.

[!NOTE] Simulator Limitation: Battery voltage, FT sensor, and IMU data read as 0.0 in simulation (no physical hardware). Tool flange topics: Requires publish_tool_flange_state: true in driver_parameters.yaml.