Spot ROS2 Driver

This is a ROS 2 implemantion of the ROS1 driver from Clearpath. All ROS services are ported, but only the services: claim, power_on, stand and sit were tested. The /cmd_vel topic also works and you can send commands to the spot via e.g. rqt_publisher. This project is still WIP.

Issues

1. ROS2 Action: "NavTo" has not test yet.
2. Arm control still got some errors.
3. cmd_vel working weird sometimes.

Prerequisites

- Tested for ubuntu 20.04
- ROS 2 foxy

Install

pip3 install bosdyn-client bosdyn-mission bosdyn-api bosdyn-core
sudo apt install ros-foxy-joint-state-publisher-gui
cd path/to/ros2/ws
git clone https://github.com/MASKOR/Spot-ROS2.git src/
colcon build --symlink-install

Install depth image proc

Since DepthCloud is not yet ported for rviz2 , we can use depth_image_proc to visualize the depth information from the cameras as Pointcloud2.

sudo apt install ros-foxy-depth-image-proc

Launch

The spot login data hostname, username and password must be specified in the config/spot_login.yaml of the spot_driver package.

Model

ros2 launch spot_description description.launch.py

SpotDriver

ros2 launch spot_driver spot_driver.launch.py

Depth image to Pointcloud2

ros2 launch spot_driver point_cloud_xyz.launch.py