Installation

Rosetta is a plain ROS 2 Jazzy package set. Two paths install it.

The pixi workspace

rosetta_ws installs ROS 2 Jazzy (via RoboStack), LeRobot, and every Rosetta package together. Take this path if training is anywhere in your plans: ROS 2 and the ML frameworks disagree about numpy, opencv, and torch, and the workspace resolves that in a committed lockfile.

Install pixi (v0.72+), then:

git clone https://github.com/iblnkn/rosetta_ws.git
cd rosetta_ws
pixi run    # clone package/library repos + install the environment
pixi run build             # colcon build -> install/

An existing ROS 2 install

Import the pinned package set from repos/src.repos into your own colcon workspace, then:

rosdep install --from-paths src --ignore-src -y
colcon build

The ML frameworks are deliberately not in package.xml, because rosetta core imports none of them. Install lerobot[dataset,async]==0.6.0 if you need the porter’s dataset writer, policy_runner_node, or the LeRobot plugins.