Rosetta

Rosetta interfaces ROS 2 robots to robot-learning frameworks like LeRobot.

Record demonstrations to rosbag, declare in a YAML contract how topics become training frames and how model output becomes messages again. Rosetta executes that contract identically for training preperation and live inference.

Getting started? The rosetta_ws workspace has ROS 2 Jazzy, Rosetta, and LeRobot installed.

Getting started

• Installation
• Train and deploy your first policy

How-to guides

• Write a contract
• Record, convert, train, deploy

Reference

• Contract reference
• Nodes

Explanation

• Design