Spot ROS2 Driver

Overview

This is a ROS2 package for BostonDynamics' Spot. The package contains all necessary topics, services and actions to teleoperate or navigate Spot. This package is derived of this ROS1 package.

Prerequisites

- Tested for Ubuntu 20.04 + Foxy
- Tested for Ubuntu 22.04 + Humble

Install

pip3 install bosdyn-client bosdyn-mission bosdyn-api bosdyn-core
sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-xacro
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-$ROS_DISTRO-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

Example Node

The command_spot_driver node contains service and action clients. To send a trajectory goal execute:

ros2 run spot_driver command_spot --ros-args -p command:=trajectory

License

MIT license - parts of the code developed specifically for ROS2. BSD3 license - parts of the code derived from the Clearpath Robotics ROS1 driver.

Contributors

This project is a collaboration between the Mobile Autonomous Systems & Cognitive Robotics Institute (MASKOR) at FH Aachen and the Boston Dynamics AI Institute.

MASKOR contributors:

• Maximillian Kirsch
• Shubham Pawar
• Christoph Gollok
• Stefan Schiffer
• Alexander Ferrein

Boston Dynamics AI Institute contributors:

• Jenny Barry
• Daniel Gonzalez
• David Surovik
• Jiuguang Wang

Linköping University contributors:

• Tommy Persson