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.

ERL

Docker container scripts for the reachy2 setup are included in the /docker directory. Run . docker/build_docker.sh to build and . docker/run_docker.sh to run the docker.

Once inside the docker container, cd reachy_ws and build using colcon build, then source install/setup.bash.

In order to run the code with table world in gazebo, run

ros2 launch reachy_bringup reachy.launch.py start_rviz:=true start_sdk_server:=true fake:=true gazebo:=true orbbec:=false world:='simple_table.world'

ros2 launch reachy_bringup reachy.launch.py start_rviz:=true start_sdk_server:=false fake:=true gazebo:=true orbbec:=false world:='simple_table.world' moveit:=true controllers:=trajectory

In order to run with moveit, add the launch parameters moveit:=true controllers:=trajectory

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.