Which packages to use?

The robot offers several levels of services. Depending on your use case, you may prefer interacting with different layers of the robot software.

If you have a Full kit, reachy_sdk_server.service is enabled by default, which means that all Reachy ROS2 packages are automatically launched when you start the robot (see section Using services for more information on the services).

What is running?

You can check all ROS2 topics/services running on Reachy with:

ros2 topic list

and

ros2 service list

If you want finer control of which packages should run on your Reachy, see the section Using services.

Launch kinematics services

Kinematics services are available to provide inverse and forward kinematics services for the arms, as well as inverse kinematics for Orbita.

Launch files are available to start the ROS services you need:

To launch description service with URDF (required by the kinematics services):

ros2 launch reachy_kinematics description.launch.py

To launch arms ROS services:

ros2 launch reachy_kinematics arm_kinematics.launch.py

To launch orbita ROS services (full/starter kit only):

ros2 launch reachy_kinematics orbita_kinematics_service.launch.py

To launch all kinematics ROS services at once:

ros2 launch reachy_kinematics kinematics.launch.py

Launch controllers services

Controllers services enable to control joints, fans and cameras.

Cameras nodes

Cameras nodes are available for full/starter kit only:

To launch the camera view node ROS services:

ros2 launch reachy_controllers camera_publisher.launch.py

To launch the camera zoom node ROS services:

ros2 launch reachy_controllers camera_zoom_service.launch.py

To launch all nodes related to the cameras ROS services:

ros2 launch reachy_controllers camera_controller.launch.py

Joints nodes

To launch the node related to the motors and fans ROS services:

ros2 launch reachy_controllers joint_state_controller.launch.py

All controllers nodes

To launch all controllers nodes related to ROS services at once:

ros2 launch reachy_controllers reachy_controllers.launch.py

Use reachy_msgs to interact with the services. Examples are available in reachy_ws/src/reachy_controllers/examples, or following the link: https://github.com/pollen-robotics/reachy_controllers/tree/master/examples.

SDK API Server

A layer above ROS, you can interact with Reachy SDK API. Reachy offers a gRPC (Remote Procedure Call) interface to communicate with the SDK.
To communicate with Reachy through the SDK, you need to launch server nodes that handle gRPC services.

To launch the node for the joints, fans and kinematics gRPC services:

ros2 launch reachy_sdk_server reachy_sdk_server.launch.py

To launch the node for the cameras view and zoom gRPC services (full/starter kit only):

ros2 launch reachy_sdk_server camera_server.launch.py

To launch all nodes for gRPC services:

ros2 launch reachy_sdk_server reachy_camera_sdk_server.launch.py

Note: For the servers to work, the required ROS services must be already launched. reachy_sdk_server requires all kinematics and controllers ROS nodes (for joints and cameras).

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