Reachy2 Core

This repository provides the core ROS 2 packages required to simulate, configure, and launch the Reachy 2 humanoid robot. It includes URDF descriptions, launch files, Gazebo simulation assets, and control interfaces used across real and simulated platforms.

Overview

The repo is structured as a multi-package ROS 2 workspace and serves as the foundation for developing and testing Reachy 2 behaviors, whether in hardware or in simulation.

Included Packages

• reachy_bringup
  Launch files and runtime orchestration for both real and simulated deployments.

• reachy_config
  YAML-based configuration files for Reachy’s kinematics, dynamics, and URDF parameterization.

• reachy_controllers
  ROS 2 control nodes for interfacing with Reachy hardware and simulated joints.

• reachy_description
  Robot description files (URDF, meshes, xacro) for Reachy 2, used across simulation and visualization.

• reachy_fake
  Fake interfaces for mimicking joint states and simulating Reachy's response without hardware.

• reachy_gazebo
  Gazebo simulation environment for Reachy 2, including plugins and world integration.

• reachy_gazebo_gripper_glue
  Bridges and constraints for integrating the gripper with Gazebo’s physics and control pipeline.

• reachy_utils
  Common utility functions and shared tools used by multiple packages.

Dependencies

Install ROS 2 and the dependencies listed in requirements.txt and pyproject.toml. You can also use the included dependencies.sh script to install system-wide dependencies required for simulation and control.

License

This project is licensed under the Apache License 2.0 – see the LICENSE file for details.