Try It Out

With this tutorial you will be able to see in simulation what real Spot did.


  • ROS melodic desktop (installation instructions here)

Install package

Create workspace and clone packages:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone
git clone --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:

  <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" />

Then install dependencies:

cd ~/catkin_ws/
rosdep install --from-paths src --ignore-src -y


Get example rosbag file:

wget -O spot_rosbag.bag

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


← Ports Lesson 0. Configure and test connection to Spot →