No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

llama_ros repository

llama_bringup llama_bt llama_cli llama_cpp_vendor llama_demos llama_hfhub_vendor llama_msgs llama_ros llama_ros_langchain

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/mgonzs13/llama_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
llama_bringup	6.2.5
llama_bt	6.2.5
llama_cli	6.2.5
llama_cpp_vendor	6.2.5
llama_demos	6.2.5
llama_hfhub_vendor	6.2.5
llama_msgs	6.2.5
llama_ros	6.2.5
llama_ros_langchain	6.2.5

README

llama_ros

This repository provides a set of ROS 2 packages to integrate llama.cpp into ROS 2. Using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs, VLMs, audio-language, embedding and reranking models. It also provides an OpenAI-compatible chat completions interface with tool calling, reasoning and streaming, as well as speculative decoding and decision models such as OpenJEV, Lev, Kev, Nimble, Laya and Clef. You can also use features from llama.cpp such as GBNF grammars and modify LoRAs in real-time.

[![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/llama_ros.svg?branch=main)](https://github.com/mgonzs13/llama_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/llama_ros)](https://github.com/mgonzs13/llama_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/llama_ros.svg)](https://github.com/mgonzs13/llama_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/cpp-formatter.yml?branch=main) [![Doxygen Deployment](https://github.com/mgonzs13/llama_ros/actions/workflows/doxygen-deployment.yml/badge.svg)](https://mgonzs13.github.io/llama_ros/latest) | ROS 2 Distro | Branch | Build status | Docker Image | | :----------: | :-------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------: | | **Humble** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Humble Build](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/humble-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=humble) | | **Iron** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Iron Build](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/iron-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=iron) | | **Jazzy** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Jazzy Build](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/jazzy-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=jazzy) | | **Kilted** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Kilted Build](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/kilted-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-kilted-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=kilted) | | **Lyrical** | [`main`](https://github.com/mgonzs13/llama_ros/tree/main) | [![Lyrical Build](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml/badge.svg?branch=main)](https://github.com/mgonzs13/llama_ros/actions/workflows/lyrical-build-test.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-lyrical-blue)](https://hub.docker.com/r/mgons/llama_ros/tags?name=lyrical) |

Quick Start

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/llama_ros.git
cd llama_ros
python3 -m pip install --upgrade pip || python3 -m pip install --break-system-packages --ignore-installed --upgrade pip
pip3 install --break-system-packages --ignore-installed -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DGGML_CUDA=ON  # omit this flag for a CPU-only build
source install/setup.bash

Launch a model and send a prompt:

ros2 llama launch $(ros2 pkg prefix llama_bringup)/share/llama_bringup/models/Llama-3.yaml
ros2 llama prompt "Do you know ROS 2?" -t 0.0

Documentation

Guide	Contents
Installation	Native installation, CUDA build and Docker
Usage	`llama_cli`, launch files and model configuration examples
ROS 2 Parameters	Complete parameter reference with defaults
ROS 2 Interfaces	Messages, actions and services
ROS 2 Clients	Client examples for tokenization, generation, embeddings, reranking and metadata
LangChain	LLM, RAG, chat, VLM, audio, tools, reasoning and agent examples
Demos	End-to-end demos for every supported model type
Advanced Topics	LoRA adapters and links to advanced features
Predefined Models	All `llama_bringup` model YAMLs

chatbot_ros → This chatbot, integrated into ROS 2, uses whisper_ros, to listen to people speech; and llama_ros, to generate responses. The chatbot is controlled by a state machine created with YASMIN.
explainable_ros → A ROS 2 tool to explain the behavior of a robot. Using the integration of LangChain, logs are stored in a vector database. Then, RAG is applied to retrieve relevant logs for user questions answered with llama_ros.

License

This project is licensed under the MIT License.

llama_ros repository

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llama_ros repository

ROS Distrogithub

Repository Summary

Packages

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llama_ros

Quick Start

Documentation

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CONTRIBUTING

llama_ros repository

ROS Distrogithub

Repository Summary

Packages

README

llama_ros

Quick Start

Documentation

Related Projects

License

CONTRIBUTING

llama_ros repository

ROS Distrogithub

Repository Summary

Packages

README

llama_ros

Quick Start

Documentation

Related Projects

License

CONTRIBUTING

llama_ros repository

ROS Distrogithub

Repository Summary

Packages

README

llama_ros

Quick Start

Documentation

Related Projects

License

CONTRIBUTING

llama_ros repository

ROS Distrogithub

Repository Summary

Packages

README

llama_ros

Quick Start

Documentation

Related Projects

License

CONTRIBUTING

llama_ros repository

ROS Distrogithub

Repository Summary

Packages

README

llama_ros

Quick Start

Documentation

Related Projects

License

CONTRIBUTING

llama_ros repository

ROS Distrogithub

Repository Summary

ROS Distro
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