How to use flexiv rdk, like flexiv primitive, in ros2?

[LebronX]

Do you have an example of using flexiv primitive in ros2? It seems like the current provided example is not related to the flexiv RDK.

[munseng-flexiv]

Hello @LebronX,

there are no using primitives in ROS2 as the ROS2 framework is designed to use only the low-level control interfaces of the robot e.g. joint position, velocity and torque. Flexiv ROS2 uses the RDK real-time joint control APIs e.g. streamJointPosition().

If you want to use primitives, you could directly use RDK referred to this example.

[LebronX]

Thanks for the answer!