> For the complete documentation index, see [llms.txt](https://docs.veerobot.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.veerobot.com/ros-robots/beetle-bot-plus/for-developers.md).

# For Developers

ROS 2, RViz, HTTP API, and webhooks on BeetleBot

Drive and mapping still use the dashboard if you want. This section is how you attach your own software, ROS 2 on the robot **or on a laptop**, RViz, the HTTP API, and webhooks.

Standard ROS 2 commands work: `ros2 run`, `ros2 topic`, `ros2 service`, `ros2 bag`. RViz works from an Ubuntu laptop on the same Wi-Fi.

<figure><img src="https://1236020199-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9J3hAPURN6o95UKA2Y3g%2Fuploads%2Fgit-blob-10811a62389be7718f0c3bd8afa0c0c7533920c5%2Fveepanel-developer.png?alt=media" alt="Developer page showing live topics"><figcaption><p>Developer, topics, TF, logs, Foxglove, RViz commands. Open from a computer browser.</p></figcaption></figure>

## Open Developer

On a **Windows, Linux, or macOS** browser:

1. Sign in as `developer` (full tools) or `operator` (limited).
2. **Settings → Advanced → Open Developer**

<figure><img src="https://1236020199-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9J3hAPURN6o95UKA2Y3g%2Fuploads%2Fgit-blob-f5099ff456e57e7fcd652fbd35a56802e9178a53%2Fveepanel-settings.png?alt=media" alt="Settings with Advanced in the left menu"><figcaption><p>Settings, Advanced is in the left list. Open Developer is on that page.</p></figcaption></figure>

The button is not on the Android tablet. On the tablet, Advanced explains that Developer is desktop-only, open Settings on a laptop.

There you get topics, TF, logs, **Open in Foxglove**, and copyable **RViz** commands.

Accounts and passwords: [Sign in](/veestack/veestack/sign-in.md).

## Ways to work

| Path                                                                                     | Use                                                                  |
| ---------------------------------------------------------------------------------------- | -------------------------------------------------------------------- |
| [Laptop ROS and RViz](/ros-robots/beetle-bot-plus/for-developers/laptop-ros.md)          | **Fresh Ubuntu laptop**, install Jazzy, clone, open RViz or Foxglove |
| [ROS 2](/ros-robots/beetle-bot-plus/for-developers/ros2.md)                              | SSH on the robot. Topics, services, keyboard teleop                  |
| [Map from the terminal](/ros-robots/beetle-bot-plus/for-developers/map-from-terminal.md) | `veeros_map` + RViz, same map list as the dashboard                  |
| [Foxglove](/ros-robots/beetle-bot-plus/foxglove.md)                                      | 3D on Windows / macOS / Linux. No ROS required on the laptop         |
| [HTTP API and webhooks](/ros-robots/beetle-bot-plus/for-developers/http-and-webhooks.md) | OpenAPI at `:8080/docs`                                              |

Contract pages: [VEEStack → Research](/veestack/research.md). Node example: [Write a node](/veestack/research/writing-a-node.md).