cozmo_ros2_ws

Dependencies

ROS2

This repository was tested using ROS 2 Eloquent Elusor (follow official documentation for installation)

PyCozmo

Link to official site

Currently using a forked version.

For installing it follow the steps from Clone and build

opencv-python

python3 -m pip install opencv-python

Clone and build

1. Create a new ROS2 workspace or use an existing one
   mkdir -p ~/cozmo_ros2_ws/src

2. Clone this repo
   git clone --recursive https://github.com/solosito/cozmo_ros2_ws.git ~/cozmo_ros2_ws/src/.

3. Install PyCozmo local version

cd ~/cozmo_ros2_ws/src/pycozmo
python3 -m pip install -e .

1. Build the code
   Go to the workspace folder
   cd ~/cozmo_ros2_ws
   then
   colcon build

2. Source the workspace
   . ~/cozmo_ros2_ws/install/setup.bash

Run

1. Connect to the Cozmo Wi-Fi network

2. Run the cozmo bringup node
   ros2 run cozmo_ros2_nosdk bringup

3. Run the cozmo keyboard teleop controller node in a new terminal (need to source workspace)
   ros2 run cozmo_ros2_nosdk teleop_twist_keyboard

4. Run the image viewer
   ros2 run image_tools showimage --ros-args --remap image:=/cozmo/camera

Troubleshooting

Error:
Cannot connect to cozmo:

pycozmo.exception.ConnectionTimeout: Failed to connect to Cozmo.

Solution:
Stop the rest of the nodes before starting the cozmo bringup node.