Install

Three ways to get Rosetta. Pick by what you already have.

You have	Use
Nothing, and you want to run the tutorial	ros-physical-ai/demos
Nothing, and you have your own robot	rosetta_ws
A ROS 2 workspace already	An existing workspace

Rosetta builds on ROS 2 Jazzy and Lyrical.

The demos workspace

ros-physical-ai/demos installs ROS 2 Lyrical, Gazebo, Rosetta and LeRobot through pixi, with a simulated SO-ARM101 and cameras. Linux only. You’ll want a GPU for training.

git clone https://github.com/ros-physical-ai/demos && cd demos
pixi install
pixi run install-deps    # imports the source packages, installs torch for your GPU
pixi run build

Run ROS commands inside pixi shell, or prefix them with pixi run. The Zenoh router has to be up first, in its own terminal:

pixi run zenoh-router

rosetta_ws

rosetta_ws installs ROS 2 Jazzy through RoboStack, LeRobot 0.6.0 and every Rosetta package with pixi. Linux x86_64, Linux aarch64 and macOS arm64.

git clone https://github.com/iblnkn/rosetta_ws.git && cd rosetta_ws
pixi run --frozen setup    # clone the packages, install the environment
pixi run build             # colcon build into install/

Use --frozen the first time, before LeRobot’s checkout exists. After that, plain pixi run works. Run ROS commands inside pixi shell, or prefix them with pixi run. The workspace uses rmw_zenoh_cpp, so start the router in its own terminal:

pixi run start-zenoh

An existing workspace

Import the packages listed in rosetta_ws/repos/src.repos into your src/, then:

rosdep install --from-paths src --ignore-src -y --skip-keys ament_python
colcon build

rosetta itself doesn’t import a learning framework. For rosetta_port with the LeRobot writer, policy_runner_node and the LeRobot plugins, install into the same Python:

pip install "lerobot[dataset,async]==0.6.0" torch grpcio

Add the training extra if you’ll run lerobot-train.

Check

ros2 launch rosetta episode_recorder_launch.py --show-args
python -c "from rosetta.contract.schema import load_contract; load_contract('$(ros2 pkg prefix rosetta)/share/rosetta/contracts/so_101.yaml'); print('OK')"

The second command prints OK.