ROS 2 Overview - Innate Docs

Most projects never need ROS 2: agents and skills cover them. Come here to read raw sensor data, write custom controllers, or connect MARS to another ROS 2 system. MARS runs ROS 2 Humble on Ubuntu 22.04, with Zenoh for networking. All code is in ros2_ws/src/.

Package group	Packages
Brain	`brain_client` (agent loop), `brain_messages`, `manipulation` (policies and recording)
Body	`mars_bringup`, `mars_arm`, `mars_nav`, `mars_cam`, `mars_control`, `mars_msgs`
Cloud	Training client, logger, log console

Common tasks

To	Use
Read the head camera	Subscribe to `/mars/main_camera/left/image_raw`
Drive the base	Publish `geometry_msgs/Twist` to `/cmd_vel`
Read the battery	Subscribe to `/battery_state`
Move the arm to joint angles	Call the `/mars/arm/goto_js` service
Navigate to a pose	Send a goal to the `/navigate_to_pose` action
Run a skill	Send a goal to the `/execute_skill` action

Interfaces

Topics, services, and actions, with example commands.

Debugging

Find out why something isn’t working.