Connect Marty V2 to ROS 2 over USB or Wi-Fi. The standalone driver provides accelerometer, joint and battery topics, connection services and a movement action. Commands run from a Bash terminal on Linux.
Start here
- Install and connect — build on Linux, configure the machine and robot, then read acceleration.
- Topics, services and movement — inspect the ROS graph and send movement commands.
- RViz simulation — run a simulated Marty and control its joints without hardware.
Source: robotical/marty-ros2. Target: Ubuntu 24.04, ROS 2 Jazzy and Python 3.12.
ROS graph
/marty/marty_driver owns one MartyPy connection. ROS subscribers receive measurement topics; service and action clients send requests to the driver. The firmware generates the movements.
Each robot uses a separate namespace. There is no dependency on Axiom or a dashboard.
Connection and telemetry
The guide starts the driver disconnected. /marty/connect opens the configured connection and MartyPy starts telemetry at subscribe_rate_hz. There is no separate acquisition service. A ros2 topic echo command subscribes to an existing ROS topic; stopping that echo does not stop the driver or firmware telemetry.
/marty/disconnect closes the connection and disables automatic reconnect. Measurement topics use best-effort QoS. /marty/status is reliable and transient-local.
Current scope
The IMU topic contains acceleration in m/s², including gravity; gyro and orientation are unavailable. Joint positions are in radians. Movement goals use firmware degrees and millimetres.
The driver exposes walk, dance, kick, stand and single-joint movement. RViz simulation displays a separate simulated Marty. Displaying measured joints from physical Marty still needs a calibrated joint mapping; velocity control and odometry are not included. Validation details distinguish automated checks from physical tests.