pnd_sdk_python

Python interface for pnd sdk

Installation

Dependencies

• Python >= 3.8
• cyclonedds == 0.10.2
• numpy
• opencv-python

Installing from source

Execute the following commands in the terminal:

cd ~
sudo apt install python3-pip
git clone https://github.com/pndbotics/pnd_sdk_python.git
cd pnd_sdk_python
pip3 install -e .

FAQ

1. Error when pip3 install -e .:

Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH

This error mentions that the cyclonedds path could not be found. First compile and install cyclonedds:

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install

Enter the pnd_sdk_python directory, set CYCLONEDDS_HOME to the path of the cyclonedds you just compiled, and then install pnd_sdk_python.

cd ~/pnd_sdk_python
export CYCLONEDDS_HOME="~/cyclonedds/install"
pip3 install -e .

For details, see: https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries

Usage

The Python sdk interface maintains consistency with the pnd_sdk interface, achieving robot status acquisition and control through request-response or topic subscription/publishing. Example programs are located in the /example directory. Before running the examples, configure the robot's network connection as per the instructions in the document at https://wiki.pndbotics.com

Low-Level Example

Execute the following command in the terminal:

python3 ./example/adam_u/low_level/adam_u_low_level_example.py