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.
- Tested for Ubuntu 20.04 + Foxy
- Tested for Ubuntu 22.04 + Humble
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-$ROS_DISTRO-xacro
cd <path/to/ros2/ws>
git clone https://github.com/MASKOR/Spot-ROS2.git src/
colcon build --symlink-install
Since DepthCloud is not yet ported for rviz2 , we can use depth_image_proc to visualize the depth information from the cameras as Pointcloud2.
sudo apt install ros-$ROS_DISTRO-depth-image-proc
The spot login data hostname, username and password must be specified in the config/spot_login.yaml of the spot_driver package.
ros2 launch spot_description description.launch.py
ros2 launch spot_driver spot_driver.launch.py
ros2 launch spot_driver point_cloud_xyz.launch.py
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
MIT license - parts of the code developed specifically for ROS2. BSD3 license - parts of the code derived from the Clearpath Robotics ROS1 driver.
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