ai-teammate-ros2-bridge 2.0.4

AI Teammate ROS2 Device Bridge

AI Teammate Robot Bridge

Connects ROS2 robots to AI Teammate Device Gateway via WebSocket.

Features

• rclpy native — DDS 직접 참여, rosbridge 불필요
• Sensor data streaming (IMU, odometry, battery, temperature)
• Command reception (MOVE, TURN, STOP) → ROS2 cmd_vel publish (10Hz continuous)
• Auto-reconnect on disconnect
• Simulator mode for non-ROS2 environments

Quick Install

curl -sL "https://ai-teammate.net/api/b2b/install/DEVICE_ID?key=YOUR_API_KEY" | bash

Get your API key from Control Tower > Devices > + button.

Manual Setup

pip3 install websockets psutil

cat > .env << EOF
DEVICE_ID=my-robot-01
GATEWAY_URL=wss://ai-teammate.net/gw
API_KEY=dk_YOUR_API_KEY
CONNECTION_MODE=rclpy
STATUS_REPORT_INTERVAL=1.0
CMD_VEL_TOPIC=/base_controller/cmd_vel_unstamped
IMU_TOPIC=/imu/data
ODOM_TOPIC=/odom
EOF

# ROS2 환경 source 후 실행
source /opt/ros/humble/setup.bash
python3 device_bridge.py

Environment Variables

Variable	Default	Description
DEVICE_ID	required	Unique device identifier
GATEWAY_URL	required	Device Gateway WebSocket URL
API_KEY	required	Device API key (dk_xxx)
CONNECTION_MODE	rclpy	rclpy for ROS2 native, simulator for fake data
STATUS_REPORT_INTERVAL	1.0	Sensor data send interval (seconds)
CMD_VEL_TOPIC	/cmd_vel	ROS2 velocity command topic
IMU_TOPIC	/imu/data	ROS2 IMU topic
ODOM_TOPIC	/odom	ROS2 odometry topic

Prerequisites

• Python 3.8+
• ROS2 Humble (optional — simulator mode works without)
• rosbridge 불필요 — rclpy로 DDS 직접 통신

Architecture

Robot                          AWS
┌─────────────────┐           ┌─────────────────┐
│ device_bridge.py │──WSS────▶│ Device Gateway   │
│   ├─ send sensor │          │ (port 8003)      │
│   └─ recv cmd    │◀─WSS────│   └─ /ws/stream  │──▶ Control Tower
│                  │          └─────────────────┘
│ rclpy (native)   │
│   ├─ cmd_vel pub │  DDS direct (no rosbridge)
│   ├─ odom sub    │
│   └─ imu sub     │
└─────────────────┘

Systemd Service

설치 스크립트가 자동으로 등록합니다. 수동 관리:

sudo systemctl status ai-teammate-bridge
sudo systemctl restart ai-teammate-bridge
journalctl -u ai-teammate-bridge -f