Developer Guide

This guide is intended for developers who want to use Fourier Aurora SDK for their own applications on Fourier robots. It provides information on how you can use the SDK based on your project's needs.

Aurora runs a FSM state machine and each state corresponds to certain tasks(controllers). You can switch between these states using the joystick or by sending commands through the DDS interface. Every task has its own inputs and outputs. You can use joystick or DDS to interact with the tasks.

Descriptions of the controllers for GR-1 can be found in GR-1 Controller Reference

Joystick Control

Joystick provides limited inputs to Aurora, including state change, velocity control, stand pose adjustment. For detailed information on joystick control, please refer to the Joystick Tutorial.

DDS Control

DDS (Data Distribution Service) is a communication protocol that allows Aurora to communicate with other programs or devices. DDS provides a flexible and efficient way to change Aurora's states. And it can be used to control Aurora's motion, as well as to get information from Aurora, such as its current state, joint angles, and sensor readings. For detail on dds usage in Aurora, please refer to aurora dds reference.

Python DDS Interface

Aurora provides a Python DDS client that allows you to send and receive data from Aurora using DDS. Please refer to the python directory for more information.