Lucy ROS 2 workspace (Jazzy)

Workspace bringup for the Lucy / InMoov humanoid. ROS 2 Jazzy, Gazebo, RViz, and the web control panel run natively via Pixi and RoboStack.

Requirements

Requirement	Linux	macOS	Windows
Git	✓	✓	✓ (Git for Windows)
Python 3 (for Lucy.py)	✓	✓	✓
Pixi ≥ 0.78	✓	✓	✓
tmux (multi-window launcher)	✓	✓ (brew install tmux)	— (launcher runs directly)

ROS packages are installed by Pixi into .pixi/.

GUI apps (RViz, Gazebo, rqt) are native. Platform-specific notes (Wayland, AirPlay port conflicts) are in the developer guide.

Get the repository

Clone (recommended):

git clone https://github.com/Sentience-Robotics/lucy_ws.git
cd lucy_ws

Or download the ZIP from GitHub (Code → Download ZIP), extract, and cd lucy_ws.

Quickstart

Linux / macOS

python3 Lucy.py

NixOS: enable nix-ld so Pixi/RoboStack conda binaries can load the host dynamic linker:

programs.nix-ld.enable = true;

For Gazebo/RViz GL, also see the NixOS notes in the developer guide.

Windows

Lucy-Setup.exe is built from Lucy-Windows-Installer.

Keep the workspace in a path without spaces. Pixi console scripts (colcon, pytest, ROS 2 nodes) embed the interpreter path unquoted and cannot start from one. Pixi resolves win-64 on Windows-on-ARM too. pixi.lock has no win-arm64.

Note: The Lucy launcher is not available on Windows. Instead, use the following commands to start the components with Pixi, one per terminal:

pixi run core            # robot stack, rosbridge on port 9090
pixi run control-panel   # http://localhost:4004
pixi run rviz            # optional viewer

Windows is visualisation only for now. pixi run core starts a /joint_states stand-in so the panel renders and follows the sliders, but nothing reaches hardware, and pixi run sim* refuses to start: ros2_control crashes on Windows (pal_statistics#27), and Gazebo runs a controller_manager in-process through gz_ros2_control, so it goes down with it. See the developer guide.

Using the Lucy launcher

Launch starts a tmux session (Linux/macOS) and the Lucy Control Center TUI (python -m launcher, or python launcher.py / ./launch_lucy.sh):

Key	Action
Up/Down	Navigate
Space	Toggle a package or tool
Enter	Apply changes / Start / Restart
X	Stop all processes and exit

Components you can enable:

• Core — base robot stack (lucy_bringup)
• Modifiers — Simulator (Gazebo), … headless (server-only sim, under Simulator), Visualizer (RViz), Real Hardware
• Interfaces — Control Panel (web UI), Lucy CLI
• Tools — Console, rqt

Recommended starting point: Core + Control Panel (the web 3D viewer is enough for most work without heavy GUI apps)

tmux windows (Linux/macOS):

• Ctrl+B then W — window list
• Ctrl+B then N / P — next / previous window

On Windows, the Control Center runs without tmux (one process tree). Gazebo, RViz, and rqt still open as native GUI apps when enabled.

Developer setup

For developer mode, see the developer guide.

Contributing

Contributions are very welcome: bug reports, feature ideas, documentation, and code.

Read CONTRIBUTING.md, and the Code of Conduct.

License

This project is licensed under the GNU General Public License v3.0. See LICENSE for the full text.

Lucy is part of Sentience Robotics and builds on the InMoov open-source humanoid project.