- v1.0.0 – First stable ROS2 version of the Paul InMoov robot (june 2025)
- main – Current development version
To use the stable release (v1.0.0):
git clone https://github.com/aalonsopuig/Inmoov_ROS2.git
cd Inmoov_ROS2
git checkout v1.0.0Welcome to the InMoov ROS2 Project. This project builds upon the open-source InMoov humanoid robot platform, originally designed by Gaël Langevin, integrating it with ROS 2 (specifically the Jazzy Jalisco distribution) to create a modular, autonomous system capable of vision, speech, and interactive behaviors.
The project is fully open-source and, as of today, the system is completely functional, demonstrating effective real-time face detection and recognition, natural speech synthesis, and coordinated robot control.
The development and maintenance of this project are led by Alejandro Alonso Puig, aimed at providing a scalable and maker-friendly robotic platform accessible to the wider robotics and AI community.
The InMoov ROS2 project focuses on creating a flexible, scalable, and maker-friendly robotic system capable of interacting with people through vision and speech. The system architecture is based on a distributed model, combining a central processing unit running ROS 2 with microcontroller subsystems that control the robot’s articulations.
Demo video:
Key features include:
- Modular hardware and software architecture
- Real-time face detection and recognition
- Natural speech synthesis with synchronized mouth movement
- Reactive and personalized interaction behaviors
The primary goals of the project are to:
- Provide an open and extensible humanoid robotic platform accessible to the maker community
- Demonstrate effective integration of ROS 2 with embedded microcontrollers and AI components
- Develop robust computer vision capabilities for face detection and recognition
- Implement high-quality, offline text-to-speech synthesis
- Enable interactive behaviors based on user recognition and environmental input
This section contains the technical documentation for the Paul InMoov ROS2 project.
Each page describes a different aspect of the system architecture, software components, and usage.
- Architecture Overview: High-level description of the hardware and software architecture of the robot system.
- ROS2 Packages and Nodes: Overview of the ROS2 packages included in the project and the main nodes implemented.
- Arduino Subsystems: Description of the Arduino-based servo control subsystems and their integration with ROS2.
- Repository Structure: Explanation of the repository organization and the purpose of each directory.
- Installation: Step-by-step guide to install dependencies and set up the development environment.
- Usage: Instructions for running the system and launching the main components.
- License and Credits: Licensing information and acknowledgements for the project and its contributors.
This project is licensed under the Apache License 2.0.