Lucy ROS 2 workspace (Humble)

Workspace for Lucy/InMoov:

• inmoov_urdf (URDF + combo launches)
• lucy_ros2_control (real-only control + hardware interface) This repo contains only the workspace layout and launch tooling; src/ is filled by the install script.

Install script (first-time setup)

install.sh checks requirements (docker, git, python3), reads config/repos.json, clones each listed repo (name, branch, url) into src/, runs launch_lucy.sh --install to build the workspace in Docker, then exits.

Run from the workspace root:

chmod +x install.sh launch_lucy.sh
./install.sh

If all repos in the config are already cloned, the script will ask whether to repair (re-clone and re-build) or abort. To only rebuild, run launch_lucy.sh --install, then launch_lucy.sh to start a shell.

Launch script (after install)

launch_lucy.sh builds the Docker image if needed, mounts the workspace, builds with colcon, and starts a shell (GUI by default). When run with GUI, it runs xhost +local:docker if available so the container can use the host display.

./launch_lucy.sh              # interactive shell with X11 (RViz2/Gazebo)

Inside the container:

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

Advanced usage

./launch_lucy.sh --headless   # shell without GUI
./launch_lucy.sh --install    # build workspace only and exit
./launch_lucy.sh <command>    # run one command in the container

Packages (in src/ after install)

• inmoov_urdf — InMoov URDF, RViz config, rviz.launch.py, gazebo.launch.py.
• lucy_ros2_control — ros2_control hardware interface, controller config, control.launch.py.

See each package’s README for details.