Control

Enabling Control Relay

Add the following to your config.yaml:

control:
  enabled: true

That’s it. The adamo binary receives control messages over the Adamo network and relays them to ROS topics on the robot.

Input Methods

The web interface supports gamepad input out of the box. Inputs are serialized, sent over the Adamo network, and relayed to ROS topics on the robot.

Gamepad — Plug in a USB or Bluetooth gamepad (Xbox, PlayStation, or similar). The web app detects it automatically. Published to /joy as sensor_msgs/msg/Joy.

VR Controllers

When viewing a stereo video stream in immersive VR mode, head pose and VR controller tracking data are captured and forwarded to the robot. This is only active while in the VR view. The following ROS topics are published:

Topic	Type	Description
/head_pose	geometry_msgs/msg/PoseStamped	VR headset position and orientation
/controller/left	geometry_msgs/msg/PoseStamped	Left controller pose
/controller/right	geometry_msgs/msg/PoseStamped	Right controller pose

Custom Control Topics

For programmatic control beyond the web interface, use the Python SDK:

import adamo

session = adamo.connect(api_key="ak_your_key")

# Send a JointState command
from adamo import JointState
js = JointState(
    names=["joint1", "joint2", "joint3"],
    positions=[0.1, 0.5, -0.3],
)

pub = session.control_publisher("my-robot", "joint_states")
pub.put(js.to_json())

control_publisher() uses real-time priority and drop-on-congestion. This is the correct behavior for control loops — you want the latest command delivered fast, not old commands queued up.