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Robotics L1 Bridge · 로보틱스 L1 브리지

Registry · 레지스트리: registry/signals/robotics/cell.sig.json

Cell Coding L1 adapters map ROS2 (or sim) messages ↔ Cell signals, then call cell run / cell run --stream.

Cell Coding L1 adapter가 ROS2(또는 sim) 메시지 ↔ Cell signal을 매핑한 뒤 cell run / cell run --stream을 호출합니다.

ROS2 / sim / fixture JSON
    → Receptor (Imu / Joint / Vision / Owner)
    → ImuSample | JointState | VisionFrame | OwnerPing
    → cell run [--stream] (.cell organism)
    → trace JSON
    → Actuator (Twist / stance / social log)
    → geometry_msgs/Twist or /cmd_vel (optional)

Receptors · 수용체

Class · 클래스 Cell signal ROS2 message Demo
ImuReceptor ImuSample sensor_msgs/Imu demo_spiderling_sim.py
JointStateReceptor JointState sensor_msgs/JointState demo_robotics_bridge.py --mode joint
VisionReceptor VisionFrame sensor_msgs/Image demo_spider_sim.py
OwnerReceptor OwnerPing std_msgs/Float32 (RSSI) demo_pet.py

Sources · 소스: sim · ros2-replay (JSON fixture, no ROS · ROS 불필요) · ros2 (live — sourced ROS + [ros2] extra)

Actuators · 액추에이터

Class · 클래스 Cell signal ROS2 output · ROS2 출력
TwistActuator TwistCommand (or PathCommand mapped) geometry_msgs/Twist on /cmd_vel
SpiderActuator PathCommand + discrete (WebSpan, …) same + trace readback · trace readback
PetActuator FollowPulse + discrete (VocalCue, …) same + trace readback · trace readback 
python demo_spiderling_sim.py --publish-twist
python demo_spider_sim.py --publish-twist --motion 0.8
python demo_pet.py --rssi 0.6 --publish-twist
python demo_spiderling_sim.py --publish-twist --twist-sink ros2 --cmd-vel-topic /cmd_vel

Fixtures · 픽스처

File · 파일 Use · 용도
examples/spiderling-sim/fixtures/ros2-imu-sample.json IMU replay
examples/spiderling-sim/fixtures/ros2-joint-state-sample.json JointState replay
examples/spider-robot-sim/fixtures/ros2-image-sample.json Vision replay
examples/pet-robot-sim/fixtures/ros2-owner-ping-sample.json Owner RSSI replay

Smoke test · 스모크

cd bridge-python
python demo_robotics_bridge.py
python test_ros2_mapping.py
python test_vision_metrics.py
python demo_spiderling_sim.py --source ros2-replay
python demo_spider_sim.py --source ros2-replay --samples 3 --interval-ms 33
python demo_pet.py --source ros2-replay --samples 3 --interval-ms 500

Optional deps · 선택 의존성

pip install cell-coding-bridge[camera]   # VisionReceptor camera
pip install cell-coding-bridge[ros2]     # live ros2 sources + Twist publish

Not in scope (yet) · 미구현

  • Multi-stream parallel inject (vision + IMU one session) · multi-stream parallel inject
  • Long-running bridge daemon (still subprocess cell run) · 상시 bridge daemon
  • BatteryLevel / EstopPulse live adapters · live Battery/Estop adapter

Docs · 문서

Tier · 계층 SCENARIO Hardware · 하드웨어
A2-S spiderling-sim/SCENARIO.md BRIDGE.md
A3-S / A3-H spider-robot-sim/SCENARIO.md A3-H.md
A4-S / A4-H pet-robot-sim/SCENARIO.md A4-H.md