ROS 2

The ROS 2 bridge lets you control a ROS 2 robot from anywhere over the internet. It runs next to your existing drivers, so you don’t need to change them. You run one bridge on each machine:

• Leader bridge (zrt-teleops-ros2-leader): runs on the operator machine and reads the arm or device you move.
• Follower bridge (zrt-teleops-ros2-follower): runs on the robot machine and moves the robot to match the leader.

Both bridges join the same room to connect the two machines.

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How it works

1. You move the leader arm, and its driver publishes the joint positions.
2. The leader bridge sends them to the robot machine.
3. The follower bridge passes them to your robot’s controller, and the robot moves.
4. The follower bridge sends the robot’s position and camera video back to the operator.

The robot only moves after the operator takes control. Your drivers stay in charge of the motors.

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What you need

• Ubuntu 24.04 with ROS 2 Jazzy on each machine
• An access token and a room id.

On other 64-bit Linux (Raspberry Pi OS, Debian, Ubuntu 22.04, Jetson), you can run the SO-101 example in Docker instead. See the example’s Docker section.

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Get started