🧊 RosTofu

ROS2 × copaw — Your Application in Robotics World

English | 中文 | 🐧 Linux Advantages

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🤔 What is RosTofu?

RosTofu bridges the gap between your application and the robotics world through ROS2. It wraps any executable as a ROS2 node, enabling you to:

• 🚀 Launch & Control — Start/stop/restart your app via ROS2 services
• 📊 Monitor Status — Real-time status publishing on ROS2 topics
• 🔗 ROS2 Integration — Seamlessly integrate your app into your robotics stack
• 🖥️ Cross-Platform — Works on both Windows and Ubuntu

Whether you're building a smart robot application or integrating software into your ROS2 workflow, RosTofu provides the bridge you need.

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✨ Features

Feature	Description
🎛️ Service Interface	Control copaw via /start_copaw, /stop_copaw, /restart_copaw services
📡 Status Monitoring	Track copaw state via /copaw_status topic
🔍 Auto-Detection	Automatically finds executable in .venv or system PATH
⚡ Launch Files	Ready-to-use ROS2 launch configurations
🐧 Multi-Platform	Native support for Windows and Linux
🎙️ Natural Language	Control robot with voice/text commands (see NL_CONTROL.md)
🎤 Voice Control	Speech recognition & text-to-speech support
🤖 AI Integration	Deep integration with Copaw AI assistant

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🚀 Quick Start

Prerequisites

• ROS2 Humble or Jazzy
• Python 3.9+
• uv (recommended) or pip

💡 For production use, we strongly recommend Linux (Ubuntu) for better ROS2 DDS performance and real-time control support.

1️⃣ Clone & Setup

git clone git@github.com:GWinfinity/RosTofu.git
cd RosTofu

2️⃣ Create Virtual Environment

# Using uv (recommended)
uv venv

# Activate
source .venv/bin/activate  # Linux/macOS
# or
.venv\Scripts\activate     # Windows

3️⃣ Install Your Application

# Install your application (example: copaw)
uv pip install copaw
# or
pip install copaw

4️⃣ Build ROS2 Package

# Source ROS2
source /opt/ros/humble/setup.bash

# Build
colcon build --packages-select rostofu_bringup

# Source workspace
source install/setup.bash

5️⃣ Launch 🎉

Standard Mode:

ros2 launch rostofu_bringup copaw_launch.py

Natural Language Mode (Linux recommended):

# Quick start with interactive menu
./start_nl_mode.sh

# Or specify mode directly
./start_nl_mode.sh --basic   # Local LLM (Ollama)
./start_nl_mode.sh --full    # With voice input

🎙️ Natural Language Mode (New!)

Control your robot using natural language or voice commands:

# Start NL mode
ros2 launch rostofu_bringup rospaw_nl_launch.py

# Or use the convenience script (Windows)
start_nl_mode.bat

Example commands:

• "Go to the kitchen" - Navigate to predefined location
• "Move forward 1 meter" - Motion control
• "Take a photo" - Camera control
• "Stop" - Emergency stop

See NL_CONTROL.md for detailed documentation.

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📖 Usage

Control via Services

# Start copaw
ros2 service call /start_copaw std_srvs/srv/Trigger

# Stop copaw  
ros2 service call /stop_copaw std_srvs/srv/Trigger

# Restart copaw
ros2 service call /restart_copaw std_srvs/srv/Trigger

Monitor Status

# Watch copaw status in real-time
ros2 topic echo /copaw_status

Run without Launch File

# Direct node execution
ros2 run rostofu_bringup copaw_node

# With custom path
ros2 run rostofu_bringup copaw_node --ros-args -p copaw_path:="/path/to/copaw"

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⚙️ Configuration

Parameters

Parameter	Type	Default	Description
copaw_path	string	""	Path to copaw executable (auto-detected if empty)
working_directory	string	""	Working directory for the process
auto_start	bool	true	Auto-start when node launches

Launch with Custom Parameters

# Linux
ros2 launch rostofu_bringup copaw_launch.py \
  copaw_path:="/home/user/RosTofu/.venv/bin/copaw" \
  auto_start:=true

# Windows
ros2 launch rostofu_bringup copaw_launch.py ^
  copaw_path:="D:\\RosTofu\\.venv\\Scripts\\copaw.exe" ^
  auto_start:=true

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🏗️ Project Structure

RosTofu/
├── 📁 rostofu_bringup/          # ROS2 package
│   ├── 📁 launch/
│   │   ├── copaw_launch.py      # Basic launch file
│   │   └── rospaw_nl_launch.py  # Natural language mode
│   ├── 📁 rostofu_bringup/
│   │   ├── copaw_node.py        # Main node
│   │   ├── nl_commander_node.py # Natural language commander
│   │   ├── voice_input_node.py  # Voice input node
│   │   └── copaw_bridge.py      # Copaw API bridge
│   ├── 📁 config/
│   │   └── rospaw_nl.yaml       # NL mode configuration
│   ├── package.xml              # ROS2 manifest
│   └── setup.py                 # Package setup
├── 📄 rostofu_cli.py             # Command line tool
├── 📄 start_nl_mode.bat         # Windows launcher
├── 📄 NL_CONTROL.md             # NL documentation
├── 📄 pyproject.toml            # Python project config
└── 📄 README.md                 # This file

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💻 Platform Support

Platform	Status	ROS2 Version	Recommendation
Ubuntu 22.04	✅ Fully Supported	Humble, Jazzy	⭐ Production
Ubuntu 24.04	✅ Fully Supported	Jazzy	⭐ Production
Windows 10/11	✅ Fully Supported	Humble	Development/Testing
macOS	⚠️ Not Tested	—	—

🐧 Why Linux is better for robotics? - Real-time performance, native DDS, better stability

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🤝 Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

1. Fork the repository
2. Create your feature branch (git checkout -b feature/AmazingFeature)
3. Commit your changes (git commit -m 'Add some AmazingFeature')
4. Push to the branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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📄 License

Distributed under the MIT License. See LICENSE for more information.

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🙏 Acknowledgments

• ROS2 — Robot Operating System
• uv — Fast Python package manager

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Made with ❤️ by GWinfinity