Cozmo with ROS2 without SDK

solosito · 2019-11-27T21:56:34.700Z

Hi there,

for all of you using Cozmo from Anki

I implemented a simple wrapper for using it with ROS2 without depending on the Cozmo SDK. Please, check it out and let me know what you think:

https://github.com/solosito/cozmo_ros2_ws

At the moment, it allows to move the robot (wheels, head and lift) using a modified version of the teleop_twist_keyboard and publishes the images from the camera to a topic.

Feel free to contribute to the repo.

Katherine_Scott · 2019-11-28T00:37:12.349Z

That’s super cool, and the price point is pretty good for the features (~$115US on Amazon). Looks like there is quite a bit more possible. Pycosmo supports:

Sensors:

Camera
Cliff sensor
Accelerometers
Gyro
Battery voltage
Cube battery voltage
Cube accelerometers

Actuators:

Wheel motors
Head motor
Lift motor
Backpack LEDs
IR LED
OLED display
Speaker - work progress
Cube LEDs
Platform LEDs

That seems like is going to be a lot of work but probably worth the effort. Have you tried connecting to the cubes with PyCozmo?

solosito · 2019-11-29T18:53:26.050Z

Hi,

Good news! So far Cozmo publishes:

Odometry
Image
Imu (orientation, gyro and accel)

Now that it is working, the rest is quite straightforward (and boring ) so some help with the implementation would be much appreciated.

Katherine_Scott:

That seems like is going to be a lot of work but probably worth the effort. Have you tried connecting to the cubes with PyCozmo?

Not yet but I will try. In theory the pycozmo wrapper I am using for it supports it. I just have to convert the data to ROS2 msgs.