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

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

spot_viz

Play rosbag file and you will see the robot move:

rosbag play spot_rosbag.bag

spot_viz

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