📄️ Robot Integration
Explains how to integrate new robots into PLEM. Provides step-by-step guides from Description package creation to C++ Robot Extension.
📄️ Launch System
PLEM's Composable Launch architecture and RT thread separation execution structure
📄️ Safety Mode API
Operational principles and safe mode transition patterns of the SafetyMode and RobotMode dual state machine
📄️ Action Servers
Using PLEM's ROS2 Action server interface - Robot control through FollowJointTrajectory, SetMode, PlanTrajectory actions
📄️ Control Tuning
Control performance optimization guide through PID gain tuning and friction compensation parameter configuration
📄️ Performance Monitoring
Learn how to analyze the timing and stability of PLEM's 1kHz control loop using the real-time performance monitoring system.