Hi Pollen Robotics team,
I was wondering for Reachy 2023 in the FAQ of the documentation, there is a part about autonomous navigation that says:
The current release does not come with an autonomous navigation stack. However, we have an internal (experimental) version where nav2 runs. If this is of interest to you, please let us know.
I’ve been working on building an autonomous navigation stack for Reachy 2023 so I was wondering if I’d like to try to run nav2 on Reachy 2023, would you have any instructions and things to be careful of (experimental)? I think on the Reachy 2023 we have, Nav2 is not yet installed, so my main questions are:
- Install: Exact packages + versions for experimental nav2 on Reachy 2023 (Humble) — is it just
apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam-toolbox ros-humble-robot-localization, or specific versions / extra dependencies? - Configs + bringup: Are the zuuu_description (nav2_params.yaml/slam.yaml/ekf.yaml/launches) configs/launches the correct version? Which launch is the canonical entry point, and is there a bringup guide or expected run order (map first → then localize + navigate)?
- Gotchas: Any known issues with — (a) SLAM/AMCL using /scan_filterd vs raw /scan, (b) the base IMU + ekf.yaml (is robot_localization required for usable odometry, or is wheel odom enough?), (b) use_sim_time (ships True — should it be False on the real robot?)
- Coexistence with the SDK: Can the nav2 run alongside mobile_base_server + reachy_sdk_server — Nav2 driving the base while we use the Python SDK for arms/head? Specifically, while nav2 is running, can we still call mobile_base.goto_async(…) for fine positioning, or must all base motion go through ROS2 (Nav2 goals / cmd_vel)? (We would like to use Nav2 for coarse navigation and localization but keep SDK goto_async for a final visual servo approach.)
- External control: Is there a supported way for an off-robot client (another computer on the same network that connects ReachySDK and can SSH connect to Reachy’s computer) to send NavigateToPose goals and read the robot’s map-frame pose, or does nav2 assume everything runs on-robot?
Thank you very much!