ROS Index
Repository Summary
| Description | Reachy 2023 workspace |
| Checkout URI | https://github.com/pollen-robotics/reachy_2023.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-03-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rust robotics ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| camera_controllers | 0.0.0 |
| dynamic_state_router | 0.0.0 |
| gripper_safe_controller | 0.0.0 |
| mobile_base_sdk_server | 0.0.0 |
| rplidar_ros2 | 1.0.1 |
| zuuu_description | 0.1.0 |
| zuuu_hal | 0.1.0 |
| zuuu_interfaces | 0.1.0 |
| pid_command_controller | 0.1.0 |
| reachy_bringup | 0.1.0 |
| arm_system_hwi | 0.1.0 |
| fans_controller | 0.0.0 |
| head_system_hwi | 0.0.0 |
| neck_system_hwi | 0.0.0 |
| arm_hwi | 0.1.0 |
| head_hwi | 0.1.0 |
| neck_hwi | 0.1.0 |
| reachy_description | 0.1.0 |
| reachy_fake | 0.0.0 |
| reachy_gazebo | 0.0.0 |
| reachy_gazebo_gripper_glue | 0.0.1 |
| reachy_kdl_kinematics | 0.0.0 |
| reachy_msgs | 0.1.0 |
| reachy_sdk_server | 0.0.0 |
| reachy_utils | 0.0.0 |
README
Installation
An alternative installation using Docker can be found here
This guide is meant for an Ubuntu 22.04
Environment
ROS2 Humble
https://docs.ros.org/en/humble/Installation.html
We use Cyclone DDS, here is a link for reference, but there is no need to install more than what’s already included in the following steps.
After ROS2 Humble installation is completed, you should add the following to your bashrc.
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
Rust
curl https://sh.rustup.rs -sSf | sh
You may add to your bashrc, or source it anytime you want to build reachy_ws
(the above script might have added this to your bashrc already)
source "$HOME/.cargo/env"
Git LFS
apt-get install -y git-lfs
git lfs install
https://doc.rust-lang.org/cargo/getting-started/installation.html
Reachy WorkSpace
Create Reachy_2023 env
mkdir ~/reachy_ws && cd ~/reachy_ws
mkdir src && cd src
git clone https://github.com/pollen-robotics/reachy_2023.git
Copy the configuration file
cp ~/reachy_ws/src/reachy_2023/reachy_utils/reachy_utils/files/.reachy.yaml ~/
Build Reachy_2023 env
cd ~/reachy_ws
./src/reachy_2023/dependencies.sh
pip install -r ./src/reachy_2023/requirements.txt
colcon build --symlink-install
Now you can add the following lines to your bashrc
source ~/reachy_ws/install/setup.bash
source /usr/share/gazebo/setup.bash
If there is multiple ROS2 environement on the same network, you should think about using adding ROS_DOMAIN_ID yo your bashrc as well. (choosing an integer between 0 and 101 inclusive as domain ID is a safe bet) e.g.
export ROS_DOMAIN_ID=42
For a more detailed explanation os this mechanic, please have a look at this documentation
Nav
Reachy SDK API
mkdir ~/dev && cd ~/dev
git clone https://github.com/pollen-robotics/reachy-sdk-api.git
cd ~/dev/reachy-sdk-api/python
pip3 install -e .
pip3 install scipy
Demos
```commandline
File truncated at 100 lines see the full file