Before running your programs

The variable PYTHONPATH

The Python interpreter needs to have all used packages in the environment variable PYTHONPATH, to do that, you need to source your ROS workspace:

  • If you are coding directly on your robot, it is already done.

  • If you are using the simulation on your computer, make sure to follow the setup environment setup from Ubuntu 20.04 Installation.

Required piece of code

To run, your program will need some imports & initialization. We give you below the piece of code you must use to make Python ROS Wrapper works:

#!/usr/bin/env python

# Imports
from niryo_robot_python_ros_wrapper import NiryoRosWrapper

# Instantiate the ROS wrapper and initialize the ROS node
robot = NiryoRosWrapper.init_with_node()

# -- YOUR CODE HERE -- #

You have now everything you need to control the robot through its Python ROS Wrapper. To run a script, simply use the command python3 my_script.py.