This repository contains ROS 2 related helper scripts and robotics libraries used at Duatic.
This repository is structured as a monorepo and contains the following packages:
duatic_helpers: General ROS 2 support functionality, including launch and testing utilities.duatic_kinematics: High-performance, ROS-agnostic robotics mathematics and kinematics solvers (e.g., JAX-optimized Inverse Kinematics using PyRoki).duatic_monitoring: Hardware monitoring nodes for battery state publishing (gamepad, LiTime BMS, aggregator).
While standard ROS dependencies are resolved via package.xml and rosdep, the duatic_kinematics package relies on specific Python libraries (such as custom GitHub forks) that rosdep cannot resolve automatically.
Before building your workspace, please ensure you install the Python requirements manually (or add this step to your Dockerfile):
# Navigate to your workspace root, then run:
pip3 install -r src/duatic_helpers/duatic_kinematics/requirements.txtThe contents are licensed under the BSD-3-Clause license, note that some files are under a different license (Apache 2.0). Images in this repository are to be licensed separately if you want to use them for any other usecase than forking this repository. Please open an issue in order to get in touch with us.
Please see the Contributing guide