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Version: V2.0.5.1

6. SDK Overview

The Walker Tienkung humanoid robot SDK provides a comprehensive set of interfaces covering motor control for all body parts, IMU (Inertial Measurement Unit), voice, battery, remote controller, and more. It can be used to develop and deploy robot applications, enabling developers to quickly and flexibly build applications to precisely control and operate the robot to meet the requirements of different application scenarios.

6.1 Basic Architecture – ROS2​

6.2 System Environment Requirements​

To ensure the best development experience and compatibility, it is recommended to perform development under Ubuntu 22.04. Development on macOS and Windows is currently not supported.

6.3 Runtime Environment Description​

6.3.1 Global Configuration Paths​

# Global configuration path on x86
/home/ubuntu/data/param

# Global configuration path on Orin
/home/nvidia/data/param

6.3.2 Configuration Parameters and Environment Variables​

Configuration file path: /home/ubuntu/data/param/ros2_config.txt

ROS_LOG_DIR=/home/ubuntu/logs
ROS2_BAG_DIR=/home/ubuntu/bags
FASTRTPS_DEFAULT_PROFILES_FILE=/home/ubuntu/data/param/dds_profile.xml
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
ROS_DOMAIN_ID=0

Notes:

  • ROS_LOG_DIR: Log storage directory
  • ROS2_BAG_DIR: Bag file storage directory
  • FASTRTPS_DEFAULT_PROFILES_FILE: DDS configuration file (by default, Wi‑Fi debugging of DDS communication is disabled)
  • RMW_IMPLEMENTATION: Middleware implementation type in use
  • ROS_DOMAIN_ID: ROS 2 domain ID

Environment variable setup script: /home/ubuntu/data/param/ros2_setup.bash

The above configuration parameters are automatically exported as environment variables when logging into the terminal. They can also be exported manually by running:

source /home/ubuntu/data/param/ros2_setup.bash