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

ros2 launch reachy_bringup reachy.launch.py  -s

This command should give you a list a currently accepted arguments by reachy.launch.py, if you want to try things by yourself. Let's walk you through some of these.

Software only {#custom-id}

Fake

```commandline ros2 launch reachy_bringup reachy.launch.py fake:=true start_rviz:=true ``` If you see a full_kit robot (torso, head and arms) inside rviz, then it should mean that most stuff went right, or at least that not everything went wrong. Fake robot enables to test the bare minimum. To actually run some code, we will escalate this replacing fake by gazebo simulation.

Gazebo

```commandline ros2 launch reachy_bringup reachy.launch.py gazebo:=true ``` After running this one, you should see Reachy inside Gazebo simulation tool. Nothing should be moving yet, but we will see about it in the next sections.

ROS2 CLI

Launch Gazebo with the command provided in previous section. Now you can try to move some joints directly through ROS control using this kind of command : ```commandline ros2 topic pub /dynamic_joint_commands control_msgs/msg/DynamicJointState "header: stamp: sec: 0 nanosec: 0 frame_id: '' joint_names: - l_shoulder_pitch interface_values: - interface_names: - position values: - -1.0 " ``` To list available interfaces in ROS control, you can use ```commandline ros2 control list_hardware_interfaces ```

Reachy SDK

To test a bit further, you can start a fake instance and gazebo, with sdk_server on ```commandline ros2 launch reachy_bringup reachy.launch.py gazebo:=true start_sdk_server:=true ``` Then try to move the robot through [Reachy's python SDK](https://github.com/pollen-robotics/reachy-sdk) ```python import reachy_sdk my_awesome_reachy = reachy_sdk.ReachySDK(host="localhost") my_awesome_reachy.head.look_at(0.5, 0, -0.5, 4) my_awesome_reachy.l_arm.l_elbow_pitch.goal_position = -90 from reachy_sdk.trajectory import goto goto({my_awesome_reachy.l_arm.l_elbow_pitch: 0}, 10) ``` More info on how to use Reachy's Python SDK can be found on [its documentation](https://docs.pollen-robotics.com/sdk/getting-started/introduction/)

Full stack examples

Now that is everything is set up properly on your environment, let's try to move some real stuff.

To be continued...

pollen-robotics / reachy_2023

readme