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.

Building the workspace

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

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

If all repos are already cloned, the script asks whether to repair (re-clone and rebuild) or abort.

Rebuild only (no full install flow):

./launch_lucy.sh --install

Quick start

launch_lucy.sh builds the Docker image if needed, mounts the workspace, runs colcon in the container, and starts a shell (GUI by default).

./launch_lucy.sh

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

Launch script options

./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

When using GUI, the script runs xhost +local:docker if available so the container can use the host display.

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.