📜 Developing applications

Overview

There are many ways to program new behaviours on PAL’s robots:

• no-code behaviours creation let you design simple presentations and interaction without write any code. Learn more here.

• You can also program behaviours with Python or C++. PAL’s robots comes with a simple tool to generate behaviour skeletons that you can adjust to your needs. Learn more here.

• PAL’s robots is entirely based on the open-source ROS framework. If you are familiar with ROS, you might want to directly check 🟦 Developing with ROS.

General documentation

• ✴️ Creating no-code demos
• 📝 Developing robot apps
• 🟦 Developing with ROS
• Intents
• [‼️ROS1] Accessing the robot’s capabilities from javascript
• Visual programming
• 🚧 How-to: Debugging on the live robot
• PAL Interaction simulator
• Automatic code generation with rpk

• PAL software architecture

How-to

• Using the PAL public Docker image
• Developing with the PAL Developer Docker image
• How-to: Set up your developer environment
• Set up ROS 2 communication with the robot
• 🚧 Asking for user input

Tutorials

• Build and run a new ROS package
• Deploying ROS 2 packages on your robot
• Your robot’s “Hello world”
• [‼️ROS1] Creating a simple multi-modal interaction
• Create an application with rpk

FAQ

• How do I communicate between containers?

• What method should I use to debug inside a container?

• How can I automatically launch an application at start up?

• I cannot open RViz or terminator in my container.

References

• Set up the ROS_DOMAIN_ID in ROS 2
• [‼️ROS1] REST interface
• 🚧 PAL SDK for naoqi users
• Translating your applications
• 🚧 Default application

The 🟦 Developing with ROS page gives access to the full ROS API reference.