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Lite3_sdk_service

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Note

This is the companion service program for Lite3 SDK deployment. It is only available for Lite3 Venture Edition.

Overview

This interface is used for the Lite3 SDK deploy companion startup. It converts UDP messages into ROS2 messages used by the SDK and configures automatic startup at boot.
lite3_transfer package will run lite3 and retroid_gamepad nodes. The nodes information is as follows:

# ros2 node info /lite3
/lite3_transfer
  Subscribers:
    /JOINTS_CMD: drdds/msg/JointsDataCmd
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /IMU_DATA: drdds/msg/ImuData
    /JOINTS_DATA: drdds/msg/JointsData
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /SDK_MODE: drdds/srv/StdSrvInt32
    /lite3/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /lite3/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /lite3/get_parameters: rcl_interfaces/srv/GetParameters
    /lite3/list_parameters: rcl_interfaces/srv/ListParameters
    /lite3/set_parameters: rcl_interfaces/srv/SetParameters
    /lite3/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

# ros2 node info /retroid_gamepad
/retroid_gamepad
Subscribers:
  /parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
  /GAMEPAD_DATA: drdds/msg/GamepadData
  /parameter_events: rcl_interfaces/msg/ParameterEvent
  /rosout: rcl_interfaces/msg/Log
Service Servers:
  /retroid_gamepad/describe_parameters: rcl_interfaces/srv/DescribeParameters
  /retroid_gamepad/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
  /retroid_gamepad/get_parameters: rcl_interfaces/srv/GetParameters
  /retroid_gamepad/list_parameters: rcl_interfaces/srv/ListParameters
  /retroid_gamepad/set_parameters: rcl_interfaces/srv/SetParameters
  /retroid_gamepad/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:

Action Servers:

Action Clients:

lite3_sdk_service package is a standalone UDP-based control service for managing the lite3_transfer ROS2 node.
It provides remote control capabilities to start/stop the transfer node and adjust its publish rate via UDP commands. The nodes information is as follows:

# ros2 node info /lite3_sdk_service
/lite3_sdk_service
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /rosout: rcl_interfaces/msg/Log
  Service Clients:
    /SDK_MODE: drdds/srv/StdSrvInt32
  Service Servers:
    /lite3_sdk_service/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /lite3_sdk_service/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /lite3_sdk_service/get_parameters: rcl_interfaces/srv/GetParameters
    /lite3_sdk_service/list_parameters: rcl_interfaces/srv/ListParameters
    /lite3_sdk_service/set_parameters: rcl_interfaces/srv/SetParameters
    /lite3_sdk_service/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically

Preparation

Using the lite3 sdk service requires network configuration and installation of ROS2. Please follow the steps in sequence.

Modify ip

modify this file jy_exe/conf/network.toml to this content:

ip = '192.168.2.1'
target_port = 43897
local_port = 43893

ips = ['192.168.1.103']
ports = [43897]

Network configuration

# Search for available Wi-Fi networks and add Wi-Fi
sudo nmcli dev wifi list
sudo nmcli dev wifi connect "name" password "password" ifname wlan0

After connecting to Wi-Fi, please attempt to ping external networks. If ping fails, follow these steps:
Navigate to ~/etc/netplan/config.yaml

# Delete the gateway configuration. The following is an example; please delete according to your actual situation.
network:
    version: 2
    renderer: NetworkManager
    ethernets:
        eth1:
            addresser:
                - 192.168.1.120/24
                - 192.168.137.120/24
            gateway4: 192.168.137.120   # Delete this gateway.
            nameservers:
                addresser: [223.5.5.5]
# Apply changes after saving
sudo netplan apply

After apply, you may encounter issues connecting to Wi-Fi of Lite3. Please try again after a short wait or restart your device. Use the ping command again to verify if you can connect to external networks.

Install ROS2

The Lite3 computer system runs Ubuntu 20.04. Please refer to ROS2 Foxy for ROS2 installation.

Transmit and compile packages

Before SCP transfer, you can first remove the SDK deploy folder to reduce transfer time.

Compile packages

# scp to transfer files to lite3 (open a terminal on your local computer) password is ' (a single quote)
ssh ysc@192.168.2.1 'mkdir -p ~/lite3_sdk_service/src' && \
scp -r ~/sdk_deploy/src/drdds ~/sdk_deploy/src/lite3_sdk_service ~/sdk_deploy/src/lite3_transfer ysc@192.168.2.1:~/lite3_sdk_service/src


# ssh connect for remote development
ssh ysc@192.168.2.1
cd lite3_sdk_service
source /opt/ros/foxy/setup.bash
colcon build --packages-up-to lite3_sdk_service

You can run these packages to test whether they compile and install correctly.

# run lite3 sdk service
cd lite3_sdk_service
source install/setup.bash
export ROS_DOMAIN_ID=0  # Optional, defaults to 0 if not set
ros2 run lite3_sdk_service sdk_service

Auto-start on Boot (Systemd)

1. Create Systemd Service File

# add a new service
cd /etc/systemd/system/
sudo vim lite3_sdk_service.service
# add the following content
[Unit]
Description=Lite3 SDK Control UDP Service
After=network.target

[Service]
Type=simple
User=ysc  # Replace with your username
Environment=ROS_DOMAIN_ID=0
ExecStart=/bin/bash -lc 'source /opt/ros/foxy/setup.bash && \
                         source /home/ysc/transfer/install/setup.bash && \
                         exec /home/ysc/transfer/install/lite3_sdk_service/lib/lite3_sdk_service/sdk_service'
Restart=on-failure

[Install]
WantedBy=multi-user.target

2. Enable and Start Service

# Reload systemd
sudo systemctl daemon-reload

# Enable auto-start on boot
sudo systemctl enable lite3_sdk_service

# Start service immediately
sudo systemctl start lite3_sdk_service

3. Service Management Commands

# Start service
sudo systemctl start lite3_sdk_service

# Stop service
sudo systemctl stop lite3_sdk_service

# Restart service
sudo systemctl restart lite3_sdk_service

# Disable auto-start
sudo systemctl disable lite3_sdk_service

# Check status
sudo systemctl status lite3_sdk_service

# View logs
sudo journalctl -u lite3_sdk_service -f

Troubleshooting

Service Not Responding

  1. Check if service is running: sudo systemctl status lite3_sdk_service
  2. Check logs: sudo journalctl -u lite3_sdk_service -n 50
  3. Verify ROS2 domain: Ensure ROS_DOMAIN_ID=0 matches other nodes

Node Won't Start

  • Ensure lite3_transfer package is built and available
  • Check ROS2 environment is properly sourced
  • Verify network connectivity if running remotely