ROS 2

The ROS 2 bridge allows you to put a live OmniLoop control plane on a running robot. This is where OmniLoop’s halt, live-mutate, and no-restart capabilities matter most — bringing up or debugging real hardware, not just tuning a simulation.

The bridge handles data in two directions:

• Telemetry (Robot -> Dashboard): Subscribes to topics; each message is automatically flattened into scalar readouts.
• Control (Dashboard -> Robot): Exposes parameters as sliders or toggles; edits in the dashboard are pushed as ROS 2 parameter updates.

Usage

Start the bridge with your desired telemetry topics and parameters:

import rclpy
from omniloop.integrations.ros2 import OmniLoopRosBridge

rclpy.init()
bridge = OmniLoopRosBridge(
    node_name="omniloop_bridge",
    telemetry_topics=[
        ("/imu/base_vel", "std_msgs/msg/Float64")
    ],
    params=[
        dict(name="max_speed", type="float", kind="slider",
             min=0.0, max=2.0, step=0.05, default=1.0, target_node="/controller")
    ],
)
bridge.spin()  # Blocks; publishes telemetry and applies dashboard edits

Note

The rclpy module comes from your ROS 2 distribution (e.g., Humble, Iron), not pip. Ensure you run this script from a properly sourced ROS 2 environment.

Features

• Message Flattening: OmniLoop automatically unwraps standard messages (like std_msgs .data) and walks nested fields to create clean, readable scalars in the dashboard.
• Parameter Push: When you move a slider in the dashboard, the bridge uses an AsyncParameterClient to dynamically update the parameter on the target node.