With this tutorial you will be able to see in simulation what real Spot did.
Requirements
- ROS melodic desktop (installation instructions here)
Install package
Create workspace and clone packages:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/clearpathrobotics/spot_ros.git
git clone https://github.com/ros/geometry2 --branch 0.6.5
Open the view_model.launch
file:
nano ~/catkin_ws/src/spot_ros/spot_viz/launch/view_model.launch
And set use_sim_time
parameter to true
, file must look like this:
<launch>
<param name="/use_sim_time" value="true"/>
<include file="$(find spot_description)/launch/description.launch"/>
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find spot_viz)/rviz/model.rviz" />
</launch>
Then install dependencies:
cd ~/catkin_ws/
rosdep install --from-paths src --ignore-src -y
catkin_make
Run
Get example rosbag file:
wget -O spot_rosbag.bag https://gateway.ipfs.io/ipfs/QmTDrfMy7Zs7uDLN3KPBC1UYqXNMXBKEwX7ggVmJKAm7Ef
Run rviz with the Spot model:
source ~/catkin_ws/devel/setup.bash
roslaunch spot_viz view_model.launch
Then in a new terminal:
source ~/catkin_ws/devel/setup.bash
roslaunch spot_viz view_robot.launch
Play rosbag file and you will see the robot move:
rosbag play spot_rosbag.bag