Lucy ROS 2 workspace (Humble)

Workspace for Lucy/InMoov:

• thais_urdf (URDF + combo launches) — package name thais_urdf
• lucy_ros_packages (e.g. lucy_ros2_control, lucy_bringup, camera_ros)

This tree holds workspace layout and tooling; src/ is populated by the install script.

Install and quick launch

One-time:

chmod +x install.sh launch_lucy.sh

If you need to clone the repositories over SSH, copy .env.example to .env and set DEV=true before running install.sh (HTTPS clones work without that).

Linux, Intel Mac, Windows WSL, x86_64 VMs

Docker pulls linux/amd64 images — correct for these hosts.

Install

./install.sh

Quick launch (interactive shell; GUI / X11 if available)

./launch_lucy.sh

Apple Silicon macOS (M1 / M2 / M3, Docker Desktop)

Docker Desktop often defaults to linux/amd64 ROS images and runs them under emulation, which produces platform warnings and unreliable apt / rosdep. Use --arm on install once (or every install you want as ARM64); --arm can be combined with --build-only, --repair, etc. The image osrf/ros:humble-desktop on Docker Hub is amd64-only; --arm builds from ros:humble-ros-base-jammy and installs ros-humble-desktop so a real linux/arm64 base exists.

Install

./install.sh --arm

Quick launch (same as on Linux — launch_lucy.sh reads .lucy-docker-platform)

./launch_lucy.sh

Quick start (what happens in the container)

launch_lucy.sh builds the Docker image if needed, mounts the workspace, sources the built ROS overlay, and starts a shell (GUI by default). Run install.sh first so install/setup.bash exists.

An interactive run starts the control panel (Vite) in the background (log /tmp/lucy-control-panel-vite.log). Start Gazebo or RViz yourself so rosbridge is running before using the panel.

Control panel URL: launch_lucy.sh reads src/lucy_control_panel/.env for VITE_PORT and publishes that host port into the container (defaults 5000 if VITE_PORT is missing). Override with PORT_CONTROL_PANEL / PORT_CONTROL_PANEL_CONTAINER if needed.

Inside the container:

What you want	Command
Gazebo + RViz + Control Panel	ros2 launch thais_urdf gazebo.launch.py
RViz + Control Panel	ros2 launch thais_urdf rviz.launch.py
Real robot, control only	ros2 launch lucy_ros2_control control.launch.py

More launch flags

./launch_lucy.sh --headless              # shell without GUI / X11
./launch_lucy.sh <command>               # one command; no background control panel
./launch_lucy.sh --headless ros2 doctor  # example non-interactive check

After ./install.sh --arm, headless checks use the same ./launch_lucy.sh flags (e.g. ./launch_lucy.sh --headless ros2 doctor --report).

Packages (src/ after install)

• thais_urdf — InMoov URDF, RViz config, rviz.launch.py, gazebo.launch.py
• lucy_ros_packages — bringup, lucy_ros2_control, camera_ros, etc.

See each repository’s README for details.

Other install commands

If repos are already cloned, a normal ./install.sh run pulls each repo to the branch in config/repos.json (fast-forward only), then rebuilds in Docker.

./install.sh --update     # same behavior (explicit “update”)
./install.sh update

Force re-clone everything listed in repos.json (removes src/<repo>, then clone + Docker build):

./install.sh --repair

Rebuild only (no git; Docker rosdep / colcon / yarn only):

./install.sh --build-only

On Apple Silicon, add --arm to any of the above install.sh invocations (e.g. ./install.sh --arm --build-only).