Gogo Operator

gogo-operator is an asyncio/Urwid operator for Motion Stack 2. It has no rclpy dependency: robot discovery and messages are provided by either the native Zenoh bridge or the ROS 2-compatible pyzeros bridge.

The operator discovers every */joint_read publisher, keeps the robot namespace attached to its joints, monitors joint values and tip_pos IK feedback, and routes commands back to the matching namespace. The shared operator logic only sees Motion Stack types and BaseSub streams.

Run

Install the workspace and start the default pyzeros backend:

pixi install
pixi run operator

Use native Zenoh instead:

pixi run operator-zenoh

Useful CLI options:

gogo-operator --help
gogo-operator --transport zenoh --timeout 8
gogo-operator --transport pyzeros --node-name my_operator
gogo-operator --no-keyboard

The terminal window is used for menus and selection. Held motion keys are read from the separate Gorilla keyboard window so key-up events reliably stop motion. Space stops every active command and Esc returns to the main menu.

Controls:

• Main menu: M monitor, R robots, J joints, W wheels, U IK.
• Joint mode: hold W/S; Z sends selected joints to zero.
• Wheel mode: hold W/S for forward/backward and A/D for turning.
• IK mode: arrows move X/Y, I/K move Z, and Q/E, W/S, A/D rotate around X, Y, and Z. Use the translation and rotation sliders by clicking or dragging with the mouse, or use Left/Right for fine speed adjustments; Page Up/Page Down makes larger adjustments, and the mouse wheel nudges the focused slider.

Python warnings and log messages generated while the interface is running are shown in the log box instead of being written over the terminal display.

Use as a package

The built-in app accepts an existing transport session, which lets another async application own the session lifecycle:

import asyncio_for_robotics as afor
from gogo_operator import build_app


@afor.scoped
async def main(zenoh_session):
    app = build_app("zenoh", session=zenoh_session)
    await app.run()

For a new transport, subclass DynamicJointBridge and implement discovery plus the four existing Motion Stack bridge hooks. OperatorController, RobotRegistry, and OperatorApp can then be reused unchanged.

Discovery behavior

• Native Zenoh discovers **/joint_read keys and removes a robot when no samples arrive within --timeout.
• pyzeros follows ROS 2 Zenoh liveliness tokens, including DELETE events, so an idle but still-live robot is not removed just because its joint values stop changing.
• Joint commands are filtered per namespace. If two selected namespaces expose the same joint name with conflicting directions, that joint is skipped and a warning is shown instead of sending an ambiguous command.