If your robot already runs on ROS 2, you keep all of it. Your drivers keep the hardware, your topics stay where they are, and Torq adds one node per machine that carries joint values between them over the internet.

​
How it fits

Two machines, each running teleop_bridge_node. On the operator machine your leader driver publishes joint states to the bridge. On the robot machine the bridge publishes joint commands to your follower driver. Commands travel one way between the bridges, state and video the other.
teleop_bridge_node is a bridge, never a driver. It owns no servo bus, no port and no camera. It reads the topic your leader driver publishes, sends those values to the other machine, and publishes them onto the topic your follower driver subscribes to. You run the same node on both machines, told which side it is on.

​
What the bridge handles

Everything between your two topics, and nothing on either side of them. Rate limiting and position limits stay in your follower driver, which is closest to the hardware and which you have already tuned. The bridge leaves max_norm_step wide open for that reason.

​
Supported

ROS 1 is not supported.

​
Next

Quickstart

Install the bridge, point it at your topics, and drive a robot.

SO-101

Joint travel read from a LeRobot calibration instead of typed in.

Reference

Every parameter, topic and service the node takes.

Safety

The checks a command passes before it reaches the motors.