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ROS 2 runtime

Workspace: ros2_ws/src/. Inside Docker, the entrypoint builds the workspace and starts session_manager on http://127.0.0.1:9090.

Interactive shell (auto-sources ROS):

docker compose exec ros2 bash

Manual session manager (if not started by entrypoint):

ros2 run gressus_session session_manager -- --host 127.0.0.1 --port 9090

Session manager HTTP API

Method Path Purpose
GET /session/status Active launch job, clinical context
POST /session/start Spawn a launch stack
POST /session/stop Stop active launch job
POST /session/pgear/load-profile Load exo profile JSON
POST /session/pgear/arm Arm exoskeleton
POST /session/pgear/disarm Disarm
POST /session/pgear/run Start gait
POST /session/pgear/stop-gait Stop gait
POST /session/pgear/estop Emergency stop
POST /session/pgear/estop-reset Clear faults after E-STOP
POST /session/pgear/full-cal ODrive FULL CAL (DISARM only)
POST /session/pgear/calibrate-baseline Empty-exo baseline fit (~30 s, ARM+RUN)

The backend proxies these via /api/runtime/* — see BACKEND.md.

Primary stack — clinical feedback

Started from the web Control panel or backend with job: "feedback":

ros2 launch gressus_bringup feedback.launch.py esp_host:=<ESP32_IP>

Includes insole bridge, RealSense camera, and pgear_device_node.

Optional launch arguments:

ros2 launch gressus_bringup feedback.launch.py \
  esp_host:=192.168.1.100 \
  insole_thresh_kpa:=8.0

P.GEAR node (standalone)

ros2 launch gressus_bringup pgear.launch.py esp_host:=<ESP32_IP>

# or bare node
ros2 run gressus_pgear pgear_device_node --ros-args -p esp_host:=<ESP32_IP>

Services (under /pgear_device_node/): load_profile, arm, disarm, run, stop_gait, estop, estop_reset, full_cal, calibrate_baseline.
Telemetry topic: /exoskeleton/telemetry.

Full protocol and profile format: ../ros2_ws/src/gressus_pgear/README.md.

Individual launch files

ros2 launch gressus_bringup insole.launch.py
ros2 launch gressus_bringup camera.launch.py
ros2 launch gressus_bringup pgear.launch.py esp_host:=<ESP32_IP>
ros2 launch gressus_bringup game.launch.py
ros2 launch gressus_bringup game_camera.launch.py
ros2 launch gressus_bringup calibrate.launch.py
ros2 launch gressus_bringup session.launch.py speed:=0.35 step_time_s:=2.5

Backend / UI launch mapping

Trigger Launch file
job: feedback feedback.launch.py
Demo mode game.launch.py
No insoles game_camera.launch.py
Default game session session.launch.py
Calibrate from Control calibrate.launch.py

Calibration (AprilTag)

Camera–projector alignment for the tile game. Output: config/calibration.json.

ros2 launch gressus_bringup calibrate.launch.py output_rotation:=270

output_rotation must match the game launch. Re-run after moving camera or projector.

Bare node (different defaults — prefer launch file for the treadmill rig):

ros2 run gressus_calibration calibrate_apriltag -- --help

Tile game (optional)

Projector lanes with depth + insole hit gate (D AND R AND P). Theory and setup: occlusion-and-treadmill.md.

ros2 launch gressus_bringup game.launch.py \
  output_rotation:=270 \
  insole_thresh_kpa:=8 \
  speed:=0.35 \
  step_time_s:=2.5

Manual node runs

ros2 run gressus_insole insole_bridge_node
ros2 run gressus_realsense realsense_node
ros2 run gressus_game tile_game_node

Environment

Variable Set by Purpose
GRESSUS_SESSION_ID session_manager Clinical session uuid
GRESSUS_PATIENT_ID session_manager Patient uuid
GRESSUS_SESSION_DATA_DIR session_manager Recording output path
GRESSUS_SESSION_DATA_ROOT host env Base dir (default /data/sessions)
GRESSUS_PGEAR_NODE_NAME optional P.GEAR node name for rclpy client
PYTHONPATH docker/ros-env.sh third_party/pgear_tools/pi_gui

Game and calibration read config/calibration.json at the repo root (/gressus/config/… in Docker).