spot_ros2_gazebo

A ROS 2 Spot simulator using Gazebo for prototyping spot autonomous behaviors.

Included packages

• spot_ros2_description - holds the sdf description of the custom spot model with lidar and camera sensors.

• spot_ros2_gazebo - holds gazebo specific code and configurations. Including the edgar mine environment.

• spot_ros2_bringup - holds launch files and high level utilities.

• spot_ros2_gz_controller - holds locomotion controller.

Install

Requirements

1. Currently all packages are only tested with ROS 2 Humble + Gazebo Fortress

2. Install necessary tools

   sudo apt install python3-vcstool python3-colcon-common-extensions git wget

3. pinocchio

Usage

1. Install dependencies

   cd ~/ros2_ws
   source /opt/ros/humble/setup.bash
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -i -y --rosdistro humble

2. Build the project

   colcon build --cmake-args -DBUILD_TESTING=ON

3. Source the workspace

   source ~/ros2_ws/install/setup.sh

4. Launch the simulation

   ros2 launch spot2_bringup spot.launch.py

Acknowledgement

• template documentation.
• [pydrake] make sure you have the correct version pip >= 20.3. You can upgrade through pip install --upgrade pip.