ROS packsages for spot gazebo

Install

Install ros melodic on the computer. link

apt install -y ros-melodic-joint-state-publisher-gui ros-melodic-interactive-marker-twist-server ros-melodic-robot-state-publisher
apt-get install -y ros-melodic-rosbridge-suite

Build packages

cd ~
mkdir spot_ws
mkdir spot_ws/src
cd spot_ws/src
git clone https://github.com/QinjieLin-NU/web-spot.git
cd ~/spot_ws
apt-get install -y python-pip
pip install  rosdep
rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
catkin_make

Run

Launch gazebo spo, navigation package and web socket for web.

export GAZEBO_HOSTNAME=localhost
roslaunch spot_config gazebo.launch 
roslaunch spot_config slam.launch rviz:=true
roslaunch rosbridge_server rosbridge_websocket.launch websocket_external_port:=$(NodePort)

launch webviz and then open link http://localhost:8080/?rosbridge-websocket-url=ws://localhost:9090.
```
docker run -p 8080:8080 cruise/webviz
```

Run with Docker

Launch spot simulation

docker build -t qinjielin/web-spot:v0.2 -f docker_docs/Dockerfile .
docker run --network host qinjielin/web-spot:v0.2

launch spot simulation with operator gui

docker build -t qinjielin/web-spot-operator:v0.2  -f docker_docs/operator.Dockerfile .
docker run --network host qinjielin/web-spot-operator:v0.2

open hostIP:9096/operator.html