5.1 Control Module

AgiBot X2 AimDK Control Module – Providing a Comprehensive Low-Level Robot Control Interface

The control module is a core component of the AgiBot X2 AimDK, providing comprehensive low-level control interfaces for the robot. It follows the ROS2 standard and supports both C++ and Python, enabling developers to achieve flexible and efficient robot control.

Core Features

  • Motion Control: Multi-source input management, velocity control, and mode switching.

  • Joint Control: Joint-level control with support for multiple control modes.

  • End-Effector Control: Gripper and dexterous hand control.

  • Preset Motions: A wide range of built-in preset motions.

  • LinkCraft Actions: Retrieve and play LinkCraft action resources deployed on the robot.

Interface Specifications

  • Service Interfaces: Use the /aimdk_5Fmsgs/srv/ prefix.

  • Topic Interfaces: Most use the /aima/ prefix.

  • Message Types: Provided in the aimdk_msgs package.

  • Supported Languages: C++ and Python.

  • Message Format: Standard ROS2 message formats.

Safety Notes

Warning

Important Safety Reminders

  • When developing velocity-based control programs, remember to register your input source.

  • Some joint control examples require temporarily disabling the MC module.

  • Test your code in a simulation environment first.

  • Ensure the robot is operating in a safe environment.

  • Taking Motion Control Computing Unit (PC1, 10.0.1.40) as build & run environment for secondary development is strictly prohibited to avoid safety risks

Caution

As standard ROS DO NOT handle cross-host service (request-response) well, please refer to SDK examples to use open interfaces in a robust way (with protection mechanisms e.g. exception safety and retransmission)

While the robot is in Stable Standing Mode or Locomotion Mode, DO NOT launch ROS nodes in rapid bulk (no more than 2 nodes per second is recommended), as a large number of nodes joining DDS discovery within a short period causes communication congestion and degrades motion control real-time performance, which may cause the robot to lose balance and fall

Model Support

Module

X2 Ultra

X2 EDU

Mode Switching

✅

✅

Locomotion Control

✅

✅

MC Control

✅

✅

Upper Body Control

✅

✅

Preset Motions

✅

✅

Joint Control

✅

✅

End-Effector

✅

Gripper only

LinkCraft Actions

✅

❌

Functional Modules