{"id":15017291,"url":"https://github.com/otl/cozmo_driver","last_synced_at":"2026-03-13T23:33:53.242Z","repository":{"id":145693073,"uuid":"78014471","full_name":"OTL/cozmo_driver","owner":"OTL","description":"Anki cozmo ROS driver","archived":false,"fork":false,"pushed_at":"2017-05-21T03:22:27.000Z","size":2685,"stargazers_count":81,"open_issues_count":4,"forks_count":35,"subscribers_count":16,"default_branch":"master","last_synced_at":"2025-03-26T06:24:18.818Z","etag":null,"topics":["anki","cozmo","cozmo-sdk","ros"],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/OTL.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-01-04T12:42:26.000Z","updated_at":"2025-03-14T07:30:22.000Z","dependencies_parsed_at":"2024-04-07T21:00:15.354Z","dependency_job_id":null,"html_url":"https://github.com/OTL/cozmo_driver","commit_stats":{"total_commits":29,"total_committers":2,"mean_commits":14.5,"dds":0.4482758620689655,"last_synced_commit":"3c154cc23e694bbbe26fd379da2906943dc9b342"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OTL%2Fcozmo_driver","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OTL%2Fcozmo_driver/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OTL%2Fcozmo_driver/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OTL%2Fcozmo_driver/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/OTL","download_url":"https://codeload.github.com/OTL/cozmo_driver/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248563721,"owners_count":21125339,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["anki","cozmo","cozmo-sdk","ros"],"created_at":"2024-09-24T19:50:16.133Z","updated_at":"2026-03-13T23:33:53.214Z","avatar_url":"https://github.com/OTL.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# cozmo driver for ROS\n\nThis is **unofficial** ROS node for Anki cozmo.\n\n## Requirements\n\nThis is tested on Kinetic/Ubuntu16.04 and Android only. Latest version is tested on Indigo/Ubuntu14.04.\n\n * Ubuntu 14.04/16.04\n * ROS Indigo/Kinetic\n * Python3.5\n * (Android)\n * (Cozmo SDK 0.10+)\n\nUse rosdep to install the required ROS packages:\n```sh\nrosdep install cozmo_driver\n```\n\n### Note\n\nCozmo 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].\n\n## Super hack to run rospy from python3\n\n**Note: Be careful installing python3, you should update python3 alternative to python3.5 before installing and using pip3!**\n\nThis is not recommended as usual, but it seems difficult to run rospy from python3 normally. (It requires full recompile of all ROS packages.)\nBelow hack will allow run python3, at least for cozmo_driver.py.\nI don't know the true risk to do that.\n\n```bash\nsudo apt-get install python3-yaml\nsudo pip3 install rospkg catkin_pkg\n```\n\nNote: To get further python3 compat a local version of \"transformations.py\" is included!\n\n## TODO\n\nFeel free to provide new ToDo's at Githubs Issues page!\n\n## Pub / Sub / Tf\n\n### Publish\n\n * /cozmo_camera/image (sensor_msgs/Image) : camera image from cozmo. This is gray scale, but the format is rgb8.\n * /cozmo_camera/camera_info (sensor_msgs/CameraInfo) : The camera info from Cozmo's camera ( **Note: I did a very poor calibration!** ).\n * /joint_states (sensor_msgs/JointState) : This contains the head angle [rad] and the lift height [m]\n * /imu (sensor_msgs/Imu) : Imu mounted on cozmo head\n * /battery (sensor_msgs/BatteryState) : battery voltage and charging status\n * /diagnostics (diagnostic_msgs/DiagnosticArray) : Several robot diagnostics.\n\n### Subscribe\n\n * /cmd_vel (geometry_msgs/Twist) : command velocity as usual. ( **Note: velocity is correct now!** )\n * /say (std_msgs/String) : cozmo says this text\n * /head_angle (std_msgs/Float64) : command head angle [rad]\n * /lift_height (std_msgs/Float64) : command lift height (value between 0 and 1, which is autoscaled by Cozmo SDK) [float]\n * /backpack_led (std_msgs/ColorRGBA) : led color on backpack\n\n### Transformations provided\n\n * odom_frame -\u003e footprint_frame\n * footprint_frame -\u003e base_frame\n * base_frame -\u003e head_frame\n * head_frame -\u003e camera_frame\n * camera_frame -\u003e camera_optical_frame\n * odom_frame -\u003e cube_xx (for detected cubes)\n\n## Install cozmo SDK on Ubuntu16.04 and Android\n\n**Note: The current driver whas tested on Ubuntu14.04 with ROS Indigo.**\n\nPlease follow the [original document](http://cozmosdk.anki.com/docs/install-linux.html#install-linux). Below is a quick hacky installation for only me.\n\n```bash\nsudo apt-get update\nsudo apt-get install python3 python3-pip python3-pil.imagetk default-jre adb\npip3 install --user 'cozmo[camera]'\n```\n\n## Hardware configuration\n\nIt is normal for Cozmo SDK, but it has below hardware configuration. ROS is running on your **PC** not on Cozmo.\n\n**Cozmo** (WiFi station) \u003c-- WiFi --\u003e **Phone** (Android) \u003c-- USB cable --\u003e **PC** (Cozmo official SDK \u003c-\u003e ROS)\n\n\n## Demo Applications\n\n### Cozmo Driver\n\nThis demo application starts the Cozmo ROS driver, a keyboard teleoperation node and a twist multiplexing node. Additionally rviz is started for visiualization.\nOptionally joystick input can be used with argument \"use_joy\".\n\n```sh\nroslaunch cozmo_driver demo.launch\n```\n\nTo enable joystick use:\n```\nroslaunch cozmo_driver demo.launch use_joy:=true\n```\n\n### RatSLAM\n\n**Note:** To get the RatSLAM demo working you need to build the sources from [here](https://github.com/sem23/ratslam.git) in your ROS workspace.\n\nThis demo application starts a SLAM system utilizing a biological inspired SLAM, called RatSLAM. In a few words, it is a\nmonocular visiual SLAM building an experience map from odometry and image information. The provided version supports a simple\nnavigation system using a naive path follow controller. So be careful while using it, as neither Cozmo nor the path controller\nprovide collision avoidance!\n\n```sh\nroslaunch cozmo_driver ratslam.launch\n```\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fotl%2Fcozmo_driver","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fotl%2Fcozmo_driver","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fotl%2Fcozmo_driver/lists"}