Test Platform Selection

Mobile Robot

  • TurtleBot3 series: Burger, Waffle
  • Open architecture, ROS compatible

Robotic Arm

  • Entry-level: Dobot Magician, xArm
  • Research-level: Franka Panda, UR series

Deployment Process

  • Docker containerization
  • CI/CD pipeline
  • Network configuration
  • Startup sequence
  • Fault recovery

Interface Integration

ROS Ecosystem

  • Standard sensor drivers (camera, LiDAR, IMU)
  • Dedicated drivers for robot platforms

ROS2 Control Framework

  • Hardware Interface plugins
  • Supports position, velocity, force/torque interfaces

Real Machine Testing Precautions

  • Progressive validation
  • Data comparison analysis
  • Safety保障措施
  • Validate on single device before scaled deployment