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机器人插件\n3. `lerobot_camera_ros2`：LeRobot 的 ROS2 相机插件\n4. `submodules/lerobot`：固定提交版本的 LeRobot 子模块\n\n## 前置要求\n\n- ROS2（测试版本：Jazzy）\n- Python \u003e= 3.12\n- Conda（推荐）\n\n## 安装\n\n\u003cdetails\u003e\n\u003csummary\u003e方式一：脚本安装（推荐）\u003c/summary\u003e\n\n```bash\n# 1) 克隆项目\ngit clone --recursive git@github.com:fiveages-sim/lerobot_ros2.git\ncd lerobot_ros2\n\n# 2) 按需执行初始化脚本\n./init.sh\n```\n\n脚本菜单中建议顺序：\n\n1. 初始化子模块\n2. 初始化 lerobot（固定提交）\n3. 创建 conda 环境\n4. 安装 interface\n5. 安装 lerobot 插件（会安装 CUDA/PyTorch/ffmpeg/evdev，并安装 lerobot 与插件）\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003e方式二：手动安装（默认参考）\u003c/summary\u003e\n\n```bash\n# 1) 克隆项目与子模块\ngit clone --recursive git@github.com:fiveages-sim/lerobot_ros2.git\ncd lerobot_ros2\n\n# 2) 初始化/更新子模块\ngit submodule update --init --recursive\n\n# 3) 固定 lerobot 到指定提交\ncd submodules/lerobot\ngit fetch --all --tags\ngit checkout 55e752f0c2e7fab0d989c5ff999fbe3b6d8872ab\ncd ../..\n\n# 4) 创建并激活 conda 环境\nconda create -n lerobot-ros2 python=3.12 -y\nconda activate lerobot-ros2\n\n# 5) 安装运行依赖\nconda install -y -c nvidia cuda-toolkit=12.8\npip install torch==2.7.1 torchvision==0.22.1 torchaudio==2.7.1 --index-url https://download.pytorch.org/whl/cu128\nconda install -y ffmpeg -c conda-forge\nconda install -y evdev -c conda-forge\npip install \"numpy\u003c2\"\n\n# 6) 安装本地包\npip install -e submodules/ros2_robot_interface\npip install -e submodules/lerobot\npip install -e lerobot_robot_ros2 --no-deps\npip install -e lerobot_camera_ros2\n\n# 7) 再次固定 numpy，避免被依赖升级到 2.x\npip install \"numpy\u003c2\"\n```\n\n\u003c/details\u003e\n\n## 说明\n\n- 本项目依赖 ROS2 的系统 OpenCV，当前建议固定 `numpy\u003c2`，避免 `cv_bridge` 与 NumPy 2.x 的 ABI 冲突。\n- `lerobot_robot_ros2` 依赖本地 `ros2-robot-interface`，请先安装 `submodules/ros2_robot_interface`。\n\n## 使用\n\n```python\nfrom lerobot_robot_ros2 import ROS2Robot, ROS2RobotConfig, ROS2RobotInterfaceConfig\n\nconfig = ROS2RobotConfig(\n    id=\"my_robot\",\n    ros2_interface=ROS2RobotInterfaceConfig(\n        joint_states_topic=\"/joint_states\",\n        end_effector_pose_topic=\"/left_current_pose\",\n        end_effector_target_topic=\"/left_target\",\n    ),\n)\n\nrobot = ROS2Robot(config)\nrobot.connect()\n# ...\nrobot.disconnect()\n```\n\n更多示例见 `examples/`。\n\n\nhttps://github.com/user-attachments/assets/a824835a-7614-4833-9d39-4c0005474dbe\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffiveages-sim%2Flerobot_ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ffiveages-sim%2Flerobot_ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffiveages-sim%2Flerobot_ros2/lists"}