lite3_quadruped

Lite3 chassis primitive with one capability surface and two selectable backends: the physical motion host and the ROS 2/MuJoCo simulator.

Backend selection

Set backend in the Robonix primitive config:

# Physical robot
config:
  backend: hardware
  target_ip: 192.168.1.120
  target_port: 43893
  local_port: 43897
  app_port: 43899
  odom_topic: /odom

# MuJoCo bridge
config:
  backend: simulation
  odom_topic: /odom
  twist_in_topic: /cmd_vel
  sentinel_timeout_s: 30.0

hardware remains the compatibility default. The selected backend is logged at startup. Simulation mode rejects target_ip, target_port, local_port, and app_port; it never starts the hardware transfer process, heartbeat, or Lite3 initialization sequence.

The simulation backend requires actively publishing /clock, /odom, and /joint_states. Posture calls map to /lite3_sim/stand, /lite3_sim/lie_down, /lite3_sim/reset, and /lite3_sim/emergency_stop services.

Both backends expose the existing capabilities unchanged:

• robonix/primitive/chassis/driver
• robonix/primitive/chassis/move
• robonix/primitive/chassis/twist_in
• robonix/primitive/chassis/odom
• robonix/primitive/chassis/posture

Run backend unit tests with:

python3 -m unittest discover -s tests -v