ROS2 Humble

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. This package currently corresponds to version 3.2.0 of the spot-sdk

Install

https://github.com/zhichaoliu0921/spot-sdk.git

and initialize and install the submodules

$ cd spot_ros2
$ git submodule init
$ git submodule update

Then run the install script. The install script takes the optional argument --arm64; it otherwise defaults to an AMD64 install. Run the correct command based on your system

$ cd <path to spot_ros2>
$ ./install_spot_ros2.sh
or
$ ./install_spot_ros2.sh --arm64

From here, set up the ROS2 workspace

$ cd <ros2 ws>
$ source /opt/ros/humble/setup.bash
$ colcon build --symlink-install
$ source install/local_setup.bash

CMake Error in CMakeLists.txt: Imported target "bosdyn_msgs::bosdyn_msgs__rosidl_generator_py" includes non-existent path

Solution:

$ sudo pip install --target=/usr/local/lib/python3.10/dist-packages numpy

Setting up environment variables

$ export BOSDYN_CLIENT_USERNAME=user 
$ export BOSDYN_CLIENT_PASSWORD=password 
$ export SPOT_IP=192.168.80.3

Visualization in rviz

ros2 launch spot_description description.launch.py

Fixed frame select base_link

Output