Skip to main content

Bringup the Robot

RMW_ZENOH NOTIFICATION

OMY uses Zenoh for ROS 2 communication in the Cyclo Manager environment. Start the Zenoh daemon before bringing up the robot stack. For more information about Zenoh, see Zenoh Communication.

Use the System page in Cyclo Manager to start and stop the OMY robot stack. From this page, you can bring up the Zenoh daemon, OMY robot services, and related processes while checking logs and ROS 2 status from the browser.
In OMY SBC, there is no cyclo intelligence container, so cyclo intelligence server button is not available.

System Page

Bringup the Zenoh Daemon​

Start the Zenoh daemon before bringing up the robot stack for ROS 2 communication.

The Zenoh Daemon control box controls the zenoh-daemon Docker container. When you start this container, the Zenoh daemon process starts automatically inside it.

Click the arrow icon in the Zenoh Daemon control box to start the Zenoh daemon. Click the log icon if you need to inspect daemon logs.

Zenoh Daemon

info
  • Red light indicates the Zenoh daemon is not running. Green light indicates the Zenoh daemon is running.
  • The Zenoh daemon runs in the zenoh-daemon container, which is created only for the Zenoh daemon.
  • If the Zenoh daemon is running, it keeps running even after you power the robot off and on, unless you stop the zenoh-daemon container.

Bringup OMY​

Select the OMY profile to bring up and click the Robot Bringup button. The launch parameters are set to default values. You can change them by clicking the Parameter Setup button.

Robot Bringup Button

The control box provides:

  • Robot Type Selection: Selects the OMY profile.
  • Bringup / Stop Button: Starts or stops the selected bringup service.
  • Parameter Setup: Opens launch arguments before start.
  • Logs: Opens live service logs.
  • Status Light: Shows whether the service is running.
caution

Cyclo Manager and the OMY container must use the same ROS_DOMAIN_ID for 3D model display, joint states, and ROS 2 topic status. See Change ROS_DOMAIN_ID.

After the robot stack starts, the 3D model and robot status panels update automatically. If the model or joint states do not update, check ROS_DOMAIN_ID, the robot bringup logs, and the relevant ROS 2 topics.

System Bringup

Configure Launch Arguments​

Click the gear icon to configure launch arguments before starting a service. Cyclo Manager stores the selected values in the browser and sends them to the container agent when you start the bringup service.

Parameter setup dialog

Common arguments include:

  • Start RViz: Starts RViz inside the robot stack when enabled.
  • Use Simulation: Uses simulation mode instead of real hardware.
  • Use Mock Hardware: Starts ros2_control with mock hardware.
  • Init Position: Moves the robot to the configured initial position during bringup.
  • Init Position File: Selects the YAML file used for the initial position.

Use default values unless you have a specific setup reason to change them.

Set Robot Pack Position​

To move the robot to the pack position during bringup:

  1. Click the gear icon in the robot bringup control.
  2. Set Init Position File to pack_position.yaml.
  3. Start Robot Bringup.
  4. Stop the robot after it reaches the pack position.

Parameter setup dialog

The robot moves to the pose defined in pack_position.yaml during startup.

If you want to unpack the robot, set init position file to initial_position.yaml.