Reachy2 SDK Server

This repository contains the ROS 2-based SDK server implementation for controlling and interfacing with Reachy 2, the humanoid robot developed by Pollen Robotics. It bridges between the gRPC communication layer and ROS 2 interfaces, providing a modular and extensible structure to manage Reachy's hardware components and software interactions.

Overview

The server is organized as a ROS 2 Python package and exposes key functionalities via gRPC and ROS 2 messaging, enabling high-level control and integration of the Reachy platform.

Key Components

• abstract_bridge_node.py
  Base class to implement bridge nodes that map gRPC services to ROS 2 actions, topics, and services.

• components.py & parts.py
  Describe and organize Reachy's hardware components (arms, head, etc.) and their corresponding software entities.

• conversion.py
  Utilities for converting between gRPC and ROS 2 message formats.

• utils.py
  Helper functions and shared utilities across components.

• grpc_server/
  Contains the server implementation for gRPC, handling communication between external clients and the ROS 2 backend.

Installation

Install as a standard ROS 2 Python package using colcon:

colcon build --packages-select reachy_sdk_server
source install/setup.bash

Dependencies are listed in requirements.txt and pyproject.toml.

Usage

This package is meant to be launched as part of the complete Reachy2 system. It exposes gRPC endpoints that control robot components and forward commands to the underlying ROS 2 infrastructure.

License

This repository is licensed under the Apache License 2.0. See LICENSE for details.