Integration Reference

The supported Python control interface is the Robot wrapper from gather_sdk. ROS applies only to separately provisioned integrator robots.

Gather Robot SDK

from gather_sdk import Robot

Constructor

Robot(
    ecu_host="192.168.4.4",
    ecu_port=502,
    max_linear_mps=0.25,
    max_angular_rps=0.75,
    camera_resolution="HD720",
    camera_fps=30,
)

Core Methods

robot.open() -> None
robot.capture() -> CameraFrame
robot.safety_status() -> SafetyStatus
robot.enable_motors() -> None
robot.drive(linear_mps: float, angular_rps: float) -> None
robot.stop() -> None
robot.disable_motors() -> None
robot.close() -> None

Use with Robot() as robot: so camera and controller cleanup occurs even when project code raises an error.

SafetyStatus

status.estop_ok
status.motors_enabled
status.service_button_0
status.service_button_1
status.service_button_2

estop_ok=True means the physical E-stop circuit reports healthy. Enabling and driving recheck safety and fail closed when health cannot be confirmed.

ROS Integration

Use ROS only when the assigned robot has a separately installed ROS workspace.

Primary guide:

ROS Packages

ROS Module (`gather_motor`)

Published topics:

/motor/engaged (std_msgs/msg/Bool)
/motor/estop_engaged (std_msgs/msg/Bool)
/motor/button_states (gather_motor/msg/ButtonStates)

Subscribed topics:

/cmd_vel (geometry_msgs/msg/Twist)
/motor/enable (std_msgs/msg/Bool)

Services:

/motor/set_lights (gather_motor/srv/SetLights)
/motor/reset_service_buttons (gather_motor/srv/ResetServiceButtons)

/motor/estop_engaged=true is a motion-inhibit state. In the Gather SDK, the corresponding developer-facing value is SafetyStatus.estop_ok=false.

Interface Boundaries

Use Robot for Python camera, safety, and motion projects.
Do not import or configure the controller backend directly.
The developer SDK does not include ROS packages.
Installed project internals are not public APIs.