Skip to content
RobothecaBeta
Log in

ros2_whill

  • Software
  • Navigation and mapping
  • Driver or SDK

A ROS 2 package that connects to the WHILL Model CR2 wheelchair base over a serial port, exposing its state and accepting motion commands. It targets the Humble release.

  • Stale

Made by WHILL Labs.

Source on GitHub: github.com/whill-labs/ros2_whill (opens in a new tab). Facts read at commit 3b10e6a (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 3b10e6a (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

Labels

  • StaleNo commit in 12 months: the newest is from 16 Dec 2024.

What it does

  • Publishes the WHILL state on /whill/states/model_cr2.
  • Accepts virtual joystick input (sensor_msgs/Joy) and direct velocity commands (geometry_msgs/Twist) to drive the base.
  • Provides services to switch power, change the speed profile, and configure battery protection settings.
  • The humble branch only offers functions common to all models; Model CR-only features need the crystal-devel branch.
  • Includes bringup, description, driver, and examples packages; the message interfaces live in a separate repository.
  • Serial port defaults to /dev/ttyUSB0 and can be set in the params file or with a launch argument.

Written by Robotheca from the project's README (opens in a new tab) at commit 3b10e6a.

Getting started

Difficulty
Intermediate

Maintenance

Status
Stale: no commit in 12 months
Newest commit
16 Dec 2024 on humble
Latest release
None published on GitHub

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.