This is unofficial ROS node for Anki cozmo.

This is tested on Kinetic/Ubuntu16.04 and Android only.

• Ubuntu 16.04
• ROS Kinetic
• Python3.5
• (Android)
• (Cozmo SDK 0.10)

Cozmo SDK will become idle mode if the message is not sent to cozmo for a few minutes. To avoid idle mode, cozmo_driver.py is sending /cmd_vel repeatedly in 10[Hz].

This is not recommended as usual, but it seems difficult to run rospy from python3 normally. (It requires full recompile of all ROS packages.) Below hack will allow run python3, at least for cozmo_driver.py. I don't know the true risk to do that.

sudo apt-get install python3-yaml
sudo pip3 install rospkg catkin_pkg

• use trajectory_msgs to command head angle and lift height.
• control and get states of cubes

• /image (sensor_msgs/Image) : camera image from cozmo. This is gray scale, but the format is rgb8.
• /joint_states (sensor_msgs/JointState) : This contains the head angle [rad] and the lift height [m]
• /tf (tf2_msgs/TFMessage) : poses of visialbe cubes and cozmo.
• /imu (sensor_msgs/Imu) : Imu mounted on cozmo head
• /battery (sensor_msgs/BatteryState) : battery voltage and charging status

• /cmd_vel (geometry_msgs/Twist) : command velocity as usual. (velocity is not correct)
• /say (std_msgs/String) : cozmo says this text
• /head_angle (std_msgs/Float64) : command head angle [rad]
• /lift_height (std_msgs/Float64) : command lift height [m]
• /backpack_led (std_msgs/ColorRGBA) : led color on backpack

Please follow the original document. Below is a quick hacky installation for only me.

sudo apt-get update
sudo apt-get install python3 python3-pip python3-pil.imagetk default-jre adb
pip3 install --user 'cozmo[camera]'

It is normal for Cozmo SDK, but it has below hardware configuration. ROS is running on your PC not on Cozmo.

Cozmo (WiFi station) <-- WiFi --> Phone (Android) <-- USB cable --> PC (Cozmo official SDK <-> ROS)