Try It Out

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